FastDDS源码解析九

最新推荐文章于 2024-05-21 22:59:12 发布

zzZhangYiLong

最新推荐文章于 2024-05-21 22:59:12 发布

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分类专栏： DDS 文章标签：网络中间件分布式 c++

本文链接：https://blog.csdn.net/zzZhangYiLong/article/details/136539469

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FlowControllerImpl::run()开启过程

在RTPSParticipantImpl的构造函数中会初始化FlowControllerFactory flow_controller_factory_成员:

    flow_controller_factory_.init(this);

FlowControllerFactory中有个map:

    std::map<std::string, std::unique_ptr<FlowController>> flow_controllers_;

会向flow_controllers_中注册几个FlowControllerImpl。
然后在RTPSParticipantImpl::create_writer中会调用如下接口:

    fastdds::rtps::FlowController* flow_controller = nullptr;
    //获取guid作为key
    const char* flow_controller_name = param.flow_controller_name;
    if (nullptr == flow_controller &&(fastdds::rtps::FASTDDS_FLOW_CONTROLLER_DEFAULT == flow_controller_name ||ASYNCHRONOUS_WRITER == param.mode))
    {
        //根据key从flow_controllers_中取出FlowController并初始化
        flow_controller = flow_controller_factory_.retrieve_flow_controller(flow_controller_name, param);
    }

从flow_controllers_中取出key == flow_controller_name 的FlowController,并调用其init方法。flow_controller_name:01.0f.f8.15.0b.12.7a.81.00.00.00.00|0.0.1.c1。

    FlowController* returned_flow = nullptr;
    returned_flow = flow_controllers_[async_flow_controller_name].get();  
    returned_flow->init();
    void init() override
    {
        initialize_async_thread();
    }

该线程用于发送数据:

    initialize_async_thread()
    {
        bool expected = false;
        if (async_mode.running.compare_exchange_strong(expected, true))
        {
            // Code for initializing the asynchronous thread.
            async_mode.thread = std::thread(&FlowControllerImpl::run, this);
        }
    }

run线程开启之后会阻塞,等待发送通知:

    while (async_mode.running && (async_mode.force_wait() || nullptr == (change_to_process = sched.get_next_change_nts())))
    {
        // Release main mutex to allow registering/unregistering writers while this thread is waiting.
        lock.unlock();
        //阻塞,等待通知
        bool ret = async_mode.wait(in_lock);
        in_lock.unlock();
        lock.lock();
        in_lock.lock();
        if (ret)
        {
            sched.trigger_bandwidth_limit_reset();
        }
        sched.add_interested_changes_to_queue_nts();
    }
}