Linux共享内存详解

1 共享内存

在Linux或者类Unix的系统下，共享内存是三大进程间通信方式之一。一个共享内存段被kernel创建，并且映射到用户态进程的数据段，使用共享内存通信最大的好处是效率很高，因为进程可以直接读写内存，而不需要任何数据的拷贝。这种方式很适合大量传感器数据的传输，比如camera frame.

2 System V and POSIX Shared Memory

共享内存有两种实现方式：System V shared memory and the newer POSIX shared memory，
本文会介绍使用 System V shared memory方式来完成server and client processes communicating。

3 System V IPC key

To use a System V IPC mechanism, we need a System V IPC key. The ftok function, which does the job, is

#include <sys/types.h>
#include <sys/ipc.h>

key_t ftok (const char *pathname, int proj_id);

4 System V Shared Memory Calls

4.1 shmget

#include <sys/ipc.h>
#include <sys/shm.h>

int shmget (key_t key, size_t size, int shmflg);

4.2 shmat

#include <sys/types.h>
#include <sys/shm.h>

void *shmat (int shmid, const void *shmaddr, int shmflg);

4.3 shmdt

#include <sys/types.h>
#include <sys/shm.h>

int shmdt (const void *shmaddr);

4.4 shmctl

#include <sys/ipc.h>
#include <sys/shm.h>

int shmctl (int shmid, int cmd, struct shmid_ds *buf);

The shmctl call is for control operations of a System V shared memory segment identified by the shmid identifier, returned by an earlier shmget call. The data structure for shared memory segments in the kernel is,

struct shmid_ds {
    
    struct ipc_perm shm_perm;    /* Ownership and permissions */
    size_t          shm_segsz;   /* Size of segment (bytes) */ 
    time_t          shm_atime;   /* Last attach time */
    time_t          shm_dtime;   /* Last detach time */
    time_t          shm_ctime;   /* Last change time */
    pid_t           shm_cpid;    /* PID of creator */ 
    pid_t           shm_lpid;    /* PID of last shmat(2)/shmdt(2) */
    shmatt_t        shm_nattch;  /* No. of current attaches */
    ...        
};  

5 An example: Client-Server communication using System V Shared Memory

5.1 client

/*
 *
 * consumer.c: Print strings in the shared memory segment
 *                  (Consumer process)
 */

#include <stdio.h>
#include <stdlib.h>
#include <sys/types.h>
#include <sys/ipc.h>
#include <sys/shm.h> 
#include <sys/sem.h>

// Buffer data structures
#define MAX_BUFFERS 10
#define SHARED_MEMORY_KEY "/tmp/shared_memory_key"
#define SEM_MUTEX_KEY "/tmp/sem-mutex-key"
#define SEM_BUFFER_COUNT_KEY "/tmp/sem-buffer-count-key"
#define SEM_SPOOL_SIGNAL_KEY "/tmp/sem-spool-signal-key"
#define PROJECT_ID 'K'

struct shared_memory {
   
    char buf [MAX_BUFFERS] [256];
    int buffer_index;
    int buffer_print_index;
};

void error (char *msg);

int main (int argc, char **argv)
{
   
    key_t s_key;
    union semun  
    {
   
        int val;
        struct semid_ds *buf;
        ushort array [1];
    } sem_attr