研究fastdds v2.8.0 1之 基础模块 3 之
condition 结合 waitset
文件路径:
Fast-DDS/src/cpp/fastdds/core/condition/WaitSetImpl.hpp
这里是 condition 和 waitset 配套的流程
整体是:
1、StatusConditionImpl 绑定 ConditionNotifer.
2、waitset attach_condition StatusConditionImpl
3、waitset wait 函数, 如果调用 StatusConditionImpl set_triger_value() 去尝试触发,在该函数中会调用 ConditionNotifer的 notify
4、 ConditionNotifer的 notify 调用 waitset 的 weak_up. weak_up 通过条件变量去触发 wait 的条件等待
5、wait 中存在 condition过滤函数,该过滤函数中会调用 StatusConditionImpl 的 get_trigered_value() 来筛选被触发的 Condition。返回被触发的 Condition数组
示例代码
ConditionSeq conditions;
WaitSetImpl wait_set;
// Attach condition
EXPECT_EQ(ReturnCode_t::RETCODE_OK, wait_set.attach_condition(condition));
// Waiting on untriggered condition should timeout
EXPECT_EQ(ReturnCode_t::RETCODE_TIMEOUT, wait_set.wait(conditions, timeout));
EXPECT_TRUE(conditions.empty());
// Waiting on already triggered condition should inmediately return condition
condition.trigger_value = true;
EXPECT_EQ(ReturnCode_t::RETCODE_OK, wait_set.wait(conditions, timeout));
EXPECT_EQ(1u, conditions.size());
EXPECT_NE(conditions.cend(), std::find(conditions.cbegin(), conditions.cend(), &condition));