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iox-#2044 Use new fixed position container #2053

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merged 2 commits into from
Oct 30, 2023
Merged

iox-#2044 Use new fixed position container #2053

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48ab70f
iox-#2044 Port 'PortPool' to new `FixedPositionContainer`
elBoberido Oct 21, 2023
71233e8
iox-#2044 Port 'PortIntrospection' to new `FixedPositionContainer`
elBoberido Oct 21, 2023
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133 changes: 0 additions & 133 deletions iceoryx_posh/include/iceoryx_posh/internal/roudi/introspection/fixed_size_container.hpp
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28 changes: 16 additions & 12 deletions iceoryx_posh/include/iceoryx_posh/internal/roudi/introspection/port_introspection.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -17,11 +17,11 @@
#ifndef IOX_POSH_ROUDI_INTROSPECTION_PORT_INTROSPECTION_HPP
#define IOX_POSH_ROUDI_INTROSPECTION_PORT_INTROSPECTION_HPP

#include "fixed_size_container.hpp"
#include "iceoryx_hoofs/internal/concurrent/periodic_task.hpp"
#include "iceoryx_posh/iceoryx_posh_types.hpp"
#include "iceoryx_posh/internal/popo/ports/publisher_port_data.hpp"
#include "iceoryx_posh/roudi/introspection_types.hpp"
#include "iox/fixed_position_container.hpp"
#include "iox/function.hpp"

#include <atomic>
Expand Down Expand Up @@ -55,10 +55,16 @@ class PortIntrospection
class PortData
{
private:
/// internal helper classes
struct Dummy
{
};
using PublisherContainerIndexType = typename FixedPositionContainer<Dummy, MAX_PUBLISHERS>::IndexType;
using ConnectionContainerIndexType = typename FixedPositionContainer<Dummy, MAX_SUBSCRIBERS>::IndexType;

struct ConnectionInfo;

/// internal helper classes

struct PublisherInfo
{
PublisherInfo() noexcept
Expand All @@ -83,8 +89,8 @@ class PortIntrospection
TimePointNs_t m_sequenceNumberTimestamp{DurationNs_t(0)};
mepoo::SequenceNumber_t m_sequenceNumber{0U};

/// map from indices to object pointers
std::map<int, ConnectionInfo*> connectionMap;
/// map from indices to ConnectionContainer indices
std::map<int, ConnectionContainerIndexType> connectionMap;
int index{-1};
};

Expand Down Expand Up @@ -123,12 +129,12 @@ class PortIntrospection
}

SubscriberInfo subscriberInfo;
PublisherInfo* publisherInfo{nullptr};
iox::optional<PublisherContainerIndexType> publisherInfoIndex;
ConnectionState state{ConnectionState::DEFAULT};

bool isConnected() const noexcept
{
return publisherInfo && state == ConnectionState::CONNECTED;
return publisherInfoIndex.has_value() && state == ConnectionState::CONNECTED;
}
};

Expand Down Expand Up @@ -208,16 +214,14 @@ class PortIntrospection
void setNew(bool value) noexcept;

private:
using PublisherContainer = FixedSizeContainer<PublisherInfo, MAX_PUBLISHERS>;
using ConnectionContainer = FixedSizeContainer<ConnectionInfo, MAX_SUBSCRIBERS>;
using PublisherContainer = FixedPositionContainer<PublisherInfo, MAX_PUBLISHERS>;
using ConnectionContainer = FixedPositionContainer<ConnectionInfo, MAX_SUBSCRIBERS>;

/// @brief inner map maps from unique port IDs to indices in the PublisherContainer
std::map<capro::ServiceDescription, std::map<popo::UniquePortId, typename PublisherContainer::Index_t>>
m_publisherMap;
std::map<capro::ServiceDescription, std::map<popo::UniquePortId, PublisherContainerIndexType>> m_publisherMap;

/// inner map maps from unique port IDs to indices in the ConnectionContainer
std::map<capro::ServiceDescription, std::map<popo::UniquePortId, typename ConnectionContainer::Index_t>>
m_connectionMap;
std::map<capro::ServiceDescription, std::map<popo::UniquePortId, ConnectionContainerIndexType>> m_connectionMap;

/// @note we avoid allocating the objects on the heap but can still use a map
/// to locate/remove them fast(er)
Expand Down
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