Decoupled the additional feature from rcl to rcutils, reflecting on t…

CMakeLists.txt

@@ -72,6 +72,7 @@ set(rcutils_sources
   src/strerror.c
   src/string_array.c
   src/string_map.c
+  src/thread_attr.c
   src/testing/fault_injection.c
   src/time.c
   ${time_impl_c}
@@ -584,6 +585,13 @@ if(BUILD_TESTING)
   if(TARGET test_macros)
     target_link_libraries(test_macros ${PROJECT_NAME})
   endif()
+
+  ament_add_gtest(test_thread_attr
+    test/test_thread_attr.cpp
+  )
+  if(TARGET test_thread_attr)
+    target_link_libraries(test_thread_attr ${PROJECT_NAME})
+  endif()
 endif()
 
 # Export old-style CMake variables

include/rcutils/thread_attr.h

@@ -0,0 +1,312 @@
+// Copyright 2023 eSOL Co.,Ltd.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCUTILS__THREAD_ATTR_H_
+#define RCUTILS__THREAD_ATTR_H_
+
+#include <stdbool.h>
+
+#include "rcutils/visibility_control.h"
+
+#include "rcutils/allocator.h"
+#include "rcutils/macros.h"
+#include "rcutils/types/rcutils_ret.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+typedef enum rcutils_thread_scheduling_policy_e
+{
+  RCUTILS_THREAD_SCHEDULING_POLICY_UNKNOWN  = 0,
+  RCUTILS_THREAD_SCHEDULING_POLICY_FIFO     = 1,
+  RCUTILS_THREAD_SCHEDULING_POLICY_RR       = 2,
+  RCUTILS_THREAD_SCHEDULING_POLICY_SPORADIC = 3,
+  RCUTILS_THREAD_SCHEDULING_POLICY_OTHER    = 4,
+  RCUTILS_THREAD_SCHEDULING_POLICY_IDLE     = 5,
+  RCUTILS_THREAD_SCHEDULING_POLICY_BATCH    = 6,
+  RCUTILS_THREAD_SCHEDULING_POLICY_DEADLINE = 7
+} rcutils_thread_scheduling_policy_t;
+
+typedef struct rcutils_thread_core_affinity_s
+{
+  // Array for bit pattern of core affinity
+  uint8_t * set;
+  // Bit count in the set
+  size_t core_count;
+  // Allocator used to allocate the set
+  rcutils_allocator_t allocator;
+} rcutils_thread_core_affinity_t;
+
+typedef struct rcutils_thread_attr_s
+{
+  /// Thread core affinity
+  rcutils_thread_core_affinity_t core_affinity;
+  /// Thread scheduling policy.
+  rcutils_thread_scheduling_policy_t scheduling_policy;
+  /// Thread priority.
+  int priority;
+  /// Thread attribute tag
+  char const * tag;
+} rcutils_thread_attr_t;
+
+/// Hold thread attribute rules.
+typedef struct rcutils_thread_attrs_s
+{
+  /// Private implementation array.
+  rcutils_thread_attr_t * attributes;
+  /// Number of threads attribute
+  size_t num_attributes;
+  /// Number of threads attribute capacity
+  size_t capacity_attributes;
+  /// Allocator used to allocate objects in this struct
+  rcutils_allocator_t allocator;
+} rcutils_thread_attrs_t;
+
+/**
+ * \brief Return a rcutils_thread_attrs_t struct with members initialized to zero value.
+ * \return a rcutils_thread_attrs_t struct with members initialized to zero value.
+ */
+RCUTILS_PUBLIC
+RCUTILS_WARN_UNUSED
+rcutils_thread_attrs_t
+rcutils_get_zero_initialized_thread_attrs(void);
+
+/**
+ * \brief Initialize list of thread attributes.
+ * \param[out] thread_attrs list of thread attributes to be initialized
+ * \param[in] allocator memory allocator to be used
+ * \return #RCUTILS_RET_OK if the structure was initialized succeessfully, or
+ * \return #RCUTILS_RET_INVALID_ARGUMENT if any function arguments are invalid, or
+ * \return #RCUTILS_RET_BAD_ALLOC if allocating memory failed, or
+ * \return #RCUTILS_RET_ERROR an unspecified error occur.
+ */
+RCUTILS_PUBLIC
+RCUTILS_WARN_UNUSED
+rcutils_ret_t
+rcutils_thread_attrs_init(
+  rcutils_thread_attrs_t * thread_attrs,
+  rcutils_allocator_t allocator);
+
+/**
+ * \brief Initialize list of thread attributes with a capacity.
+ * \param[out] thread_attrs list of thread attributes to be initialized
+ * \param[in] allocator memory allocator to be used
+ * \return #RCUTILS_RET_OK if the structure was initialized succeessfully, or
+ * \return #RCUTILS_RET_INVALID_ARGUMENT if any function arguments are invalid, or
+ * \return #RCUTILS_RET_BAD_ALLOC if allocating memory failed, or
+ * \return #RCUTILS_RET_ERROR an unspecified error occur.
+ */
+RCUTILS_PUBLIC
+RCUTILS_WARN_UNUSED
+rcutils_ret_t
+rcutils_thread_attrs_init_with_capacity(
+  rcutils_thread_attrs_t * thread_attrs,
+  rcutils_allocator_t allocator,
+  size_t capacity);
+
+/**
+ * \brief Free list of thread attributes
+ * \param[in] thread_attrs structure to be deallocated.
+ * \return #RCUTILS_RET_OK if the memory was successfully freed, or
+ * \return #RCUTILS_RET_INVALID_ARGUMENT if any function arguments are invalid
+ */
+RCUTILS_PUBLIC
+RCUTILS_WARN_UNUSED
+rcutils_ret_t
+rcutils_thread_attrs_fini(
+  rcutils_thread_attrs_t * thread_attrs);
+
+/**
+ * \brief Copy list of thread attributes
+ * \param[in] thread_attrs Source list of thread attributes
+ * \param[out] out_thread_attrs Destination location
+ * \return #RCUTILS_RET_OK if the source list was succesfully copied to the destination, or
+ * \return #RCUTILS_RET_INVALID_ARGUMENT if may function arguments are invalid, or
+ * \return #RCUTILS_RET_BAD_ALLOC if allocating memory failed
+ */
+rcutils_ret_t
+rcutils_thread_attrs_copy(
+  rcutils_thread_attrs_t const * thread_attrs,
+  rcutils_thread_attrs_t * out_thread_attrs);
+
+/**
+ * \brief Add thread attribute to the list of thread attributes.
+ * \param[in,out] thread_attrs list of thread attributes to add a thread attribute to
+ * \param[in] sched_policy thread scheduling policy of adding attribute
+ * \param[in] core_affinity thread core affinity of adding attribute
+ * \param[in] priority thread priority of adding attribute
+ * \param[in] tag thread attribute tag of adding attribute
+ * \return #RCUTILS_RET_OK if the thread attribute was successfully added, or
+ * \return #RCUTILS_RET_INVALID_ARGUMENT if any function arguments are invalid, or
+ * \return #RCUTILS_RET_BAD_ALLOC if allocating memory failed, or
+ * \return #RCUTILS_RET_ERROR an unspecified error occur.
+ */
+RCUTILS_PUBLIC
+RCUTILS_WARN_UNUSED
+rcutils_ret_t
+rcutils_thread_attrs_add_attr(
+  rcutils_thread_attrs_t * thread_attrs,
+  rcutils_thread_scheduling_policy_t sched_policy,
+  rcutils_thread_core_affinity_t const * core_affinity,
+  int priority,
+  char const * tag);
+
+/**
+ * \brief Return a zero-initialized rcutils_thread_core_affinity_t object.
+ * \return zero-initialized rcutils_thread_core_affinity_t.
+ */
+RCUTILS_PUBLIC
+RCUTILS_WARN_UNUSED
+rcutils_thread_core_affinity_t
+rcutils_get_zero_initialized_thread_core_affinity(void);
+
+/**
+ * \brief Initialize thread core affinity.
+ * \param[out] affinity thread core affinity to be initialized.
+ * \param[in] allocator allocator for internal memory operations for the thread core affinity.
+ * \return #RCUTILS_RET_OK if affinity was successfully initialized, or
+ * \return #RCUTILS_RET_INVALID_ARGUMENT if any function arguments are invalid, or
+ * \return #RCUTILS_RET_ERROR an unspecified error occur.
+ */
+RCUTILS_PUBLIC
+RCUTILS_WARN_UNUSED
+rcutils_ret_t
+rcutils_thread_core_affinity_init(
+  rcutils_thread_core_affinity_t * affinity,
+  rcutils_allocator_t allocator);
+
+/**
+ * \brief Initialize thread core affinity with number of cores.
+ * \param[out] affinity thread core affinity to be initialized.
+ * \param[in] num_cores initial number of core in the thread core affinity
+ * \param[in] allocator allocator for internal memory operations for the thread core affinity.
+ * \return #RCUTILS_RET_OK if affinity was successfully initialized, or
+ * \return #RCUTILS_RET_INVALID_ARGUMENT if any function arguments are invalid, or
+ * \return #RCUTILS_RET_BAD_ALLOC if allocating memory failed, or
+ * \return #RCUTILS_RET_ERROR an unspecified error occur.
+ */
+RCUTILS_PUBLIC
+RCUTILS_WARN_UNUSED
+rcutils_ret_t
+rcutils_thread_core_affinity_init_with_capacity(
+  rcutils_thread_core_affinity_t * affinity,
+  size_t num_cores,
+  rcutils_allocator_t allocator);
+
+/**
+ * \brief Copy thread core affinity.
+ * \param[in] src core affinity to be copied.
+ * \param[out] dest the destination.
+ * \return #RCUTILS_RET_OK if affinity was successfully copied, or
+ * \return #RCUTILS_RET_INVALID_ARGUMENT if any function arguments are invalid, or
+ * \return #RCUTILS_RET_BAD_ALLOC if allocating memory failed, or
+ * \return #RCUTILS_RET_ERROR an unspecified error occur.
+ */
+RCUTILS_PUBLIC
+RCUTILS_WARN_UNUSED
+rcutils_ret_t
+rcutils_thread_core_affinity_copy(
+  rcutils_thread_core_affinity_t const * src, rcutils_thread_core_affinity_t * dest);
+
+/**
+ * \brief Free thread core affinity.
+ * \param[in,out] affinity thread core affinity to be freed
+ * \return #RCUTILS_RET_OK if affitiny was successfully freed, or
+ * \return #RCUTILS_RET_INVALID_ARGUMENT if any function arguments are invalid, or
+ * \return #RCUTILS_RET_ERROR an unspecified error occur.
+ */
+RCUTILS_PUBLIC
+RCUTILS_WARN_UNUSED
+rcutils_ret_t
+rcutils_thread_core_affinity_fini(rcutils_thread_core_affinity_t * affinity);
+
+/**
+ * \brief Add processor number to thread core affinity.
+ * \param[in,out] affinity thread core affinity
+ * \param[in] no processor number to be added to the affinity set
+ * \return #RCUTILS_RET_OK if the processor number is successfully added to the affinity.
+ * \return #RCUTILS_RET_INVALID_ARGUMENT if any function arguments are invalid, or
+ * \return #RCUTILS_RET_BAD_ALLOC if allocating memory failed, or
+ * \return #RCUTILS_RET_ERROR an unspecified error occur.
+ */
+RCUTILS_PUBLIC
+RCUTILS_WARN_UNUSED
+rcutils_ret_t
+rcutils_thread_core_affinity_set(rcutils_thread_core_affinity_t * affinity, size_t no);
+
+/**
+ * \brief Remove processor number from thread core affinity.
+ * \param[in,out] affinity thread core affinity
+ * \param[in] no processor number to be removed from the affinity set
+ * \return #RCUTILS_RET_OK if the processor number is successfully removed from the affinity.
+ * \return #RCUTILS_RET_INVALID_ARGUMENT if any function arguments are invalid, or
+ * \return #RCUTILS_RET_ERROR an unspecified error occur.
+ */
+RCUTILS_PUBLIC
+RCUTILS_WARN_UNUSED
+rcutils_ret_t
+rcutils_thread_core_affinity_unset(rcutils_thread_core_affinity_t * affinity, size_t no);
+
+/**
+ * \brief Add processor numbers which are included in a range to thread core affinity.
+ * \param[in,out] affinity thread core affinity
+ * \param[in] min_no lower bound of the processor number range to be added (inclusive)
+ * \param[in] max_no upper bound of the processor number range to be added (inclusive)
+ * \return #RCUTILS_RET_OK if the processor numbers are successfully added to the affinity.
+ * \return #RCUTILS_RET_INVALID_ARGUMENT if any function arguments are invalid, or
+ * \return #RCUTILS_RET_INVALID_ARGUMENT if max_no less than min_no, or
+ * \return #RCUTILS_RET_BAD_ALLOC if allocating memory failed, or
+ * \return #RCUTILS_RET_ERROR an unspecified error occur.
+ */
+RCUTILS_PUBLIC
+RCUTILS_WARN_UNUSED
+rcutils_ret_t
+rcutils_thread_core_affinity_fill(
+  rcutils_thread_core_affinity_t * affinity, size_t min_no, size_t max_no);
+
+/**
+ * \brief Remove processor numbers which are included in a range from thread core affinity.
+ * \param[in,out] affinity thread core affinity
+ * \param[in] min_no lower bound of the processor number range to be removed (inclusive)
+ * \param[in] max_no upper bound of the processor number range to be removed (inclusive)
+ * \return #RCUTILS_RET_OK if the processor numbers are successfully removed from the affinity.
+ * \return #RCUTILS_RET_INVALID_ARGUMENT if any function arguments are invalid, or
+ * \return #RCUTILS_RET_INVALID_ARGUMENT if max_no less than min_no, or
+ * \return #RCUTILS_RET_BAD_ALLOC if allocating memory failed, or
+ * \return #RCUTILS_RET_ERROR an unspecified error occur.
+ */
+RCUTILS_PUBLIC
+RCUTILS_WARN_UNUSED
+rcutils_ret_t
+rcutils_thread_core_affinity_clear(
+  rcutils_thread_core_affinity_t * affinity, size_t min_no, size_t max_no);
+
+/**
+ * \brief check if thread core affinity contains processor number.
+ * \param[in] affinity thread core affinity
+ * \param[in] no processor number to check
+ * \return true if the thread core affinity includes the number, false otherwise.
+ */
+RCUTILS_PUBLIC
+RCUTILS_WARN_UNUSED
+bool
+rcutils_thread_core_affinity_is_set(rcutils_thread_core_affinity_t const * affinity, size_t no);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // RCUTILS__THREAD_ATTR_H_