Merge pull request #5 from tier4/awkernel_sync2

fix: use awkernel_sync for Mutex and RwLock
tier4 · Dec 26, 2024 · 01d0115 · 01d0115
2 parents 60f360b + 1705167
commit 01d0115
Show file tree

Hide file tree

Showing 12 changed files with 441 additions and 186 deletions.
diff --git a/Cargo.lock b/Cargo.lock
diff --git a/Cargo.toml b/Cargo.toml
@@ -25,7 +25,7 @@ mio-extras = "2.0.6"
 rand = { version = "0.8", default-features = false, features = ["small_rng"] }
 serde = { version = "1.0", default-features = false, features = ["derive"] }
 socket2 = "0.5"
-speedy = { git = "https://github.com/ytakano/speedy.git", default-features = false, features = [
+speedy = { git = "https://github.com/koute/speedy", default-features = false, features = [
     "speedy-derive",
     "alloc",
 ] }
@@ -35,6 +35,7 @@ cdr = "0.2.4"
 chrono = { version = "0.4", optional = true }
 thiserror = "1.0"
 serde_repr = "0.1.18"
+awkernel_sync = { git = "https://github.com/tier4/awkernel_sync.git" }
 
 [dev-dependencies]
 clap = { version = "4.5", features = ["derive"] }
@@ -43,4 +44,6 @@ serde_derive = "1"
 
 [features]
 default = ["std"]
-std = ["dep:chrono"]
+std = ["dep:chrono", "awkernel_sync/std"]
+awkernel_x86 = ["awkernel_sync/x86"]
+awkernel_aarch64 = ["awkernel_sync/aarch64"]
diff --git a/src/dds/datareader.rs b/src/dds/datareader.rs
@@ -2,12 +2,12 @@ use crate::dds::{qos::DataReaderQosPolicies, subscriber::Subscriber, topic::Topi
 use crate::discovery::structure::cdr::deserialize;
 use crate::rtps::{cache::HistoryCache, reader::DataReaderStatusChanged};
 use alloc::sync::Arc;
+use awkernel_sync::rwlock::RwLock;
 use core::marker::PhantomData;
 use mio_extras::channel as mio_channel;
 use mio_v06::{event::Evented, Poll, PollOpt, Ready, Token};
 use serde::Deserialize;
 use std::io;
-use std::sync::RwLock;
 
 /// DDS DataReader
 pub struct DataReader<D: for<'de> Deserialize<'de>> {
@@ -47,7 +47,7 @@ impl<D: for<'de> Deserialize<'de>> DataReader<D> {
     }
 
     fn get_data(&self) -> Vec<D> {
-        let mut hc = self.rhc.write().expect("couldn't read ReaderHistoryCache");
+        let mut hc = self.rhc.write();
         let changes = hc.get_alive_changes();
         for c in changes.iter() {
             hc.remove_change(c);
@@ -62,7 +62,7 @@ impl<D: for<'de> Deserialize<'de>> DataReader<D> {
         v
     }
     fn _remove_changes(&self) {
-        let mut hc = self.rhc.write().expect("couldn't write ReaderHistoryCache");
+        let mut hc = self.rhc.write();
         hc.remove_notalive_changes();
     }
     pub fn get_qos(&self) -> DataReaderQosPolicies {

diff --git a/src/dds/participant.rs b/src/dds/participant.rs
@@ -30,9 +30,10 @@ use core::sync::atomic::{AtomicU32, Ordering};
 use mio_extras::channel as mio_channel;
 use mio_v06::net::UdpSocket;
 use rand::rngs::SmallRng;
-use std::sync::{Mutex, RwLock};
 use std::thread::{self, Builder};
 
+use awkernel_sync::{mcs::MCSNode, mutex::Mutex, rwlock::RwLock};
+
 /// DDS DomainParticipant
 ///
 /// factory for the Publisher, Subscriber and Topic.
@@ -43,10 +44,8 @@ pub struct DomainParticipant {
 
 impl RTPSEntity for DomainParticipant {
     fn guid(&self) -> GUID {
-        self.inner
-            .lock()
-            .expect("couldn't lock DomainParticipantDisc")
-            .guid()
+        let mut node = MCSNode::new();
+        self.inner.lock(&mut node).guid()
     }
 }
 
@@ -91,15 +90,15 @@ impl DomainParticipant {
         dp
     }
     pub fn create_publisher(&self, qos: PublisherQos) -> Publisher {
+        let mut node = MCSNode::new();
         self.inner
-            .lock()
-            .expect("couldn't lock DomainParticipantDisc")
+            .lock(&mut node)
             .create_publisher(self.clone(), qos)
     }
     pub fn create_subscriber(&self, qos: SubscriberQos) -> Subscriber {
+        let mut node = MCSNode::new();
         self.inner
-            .lock()
-            .expect("couldn't lock DomainParticipantDisc")
+            .lock(&mut node)
             .create_subscriber(self.clone(), qos)
     }
     pub fn create_topic(
@@ -109,64 +108,46 @@ impl DomainParticipant {
         kind: TopicKind,
         qos: TopicQos,
     ) -> Topic {
+        let mut node = MCSNode::new();
         self.inner
-            .lock()
-            .expect("couldn't lock DomainParticipantDisc")
+            .lock(&mut node)
             .create_topic(self.clone(), name, type_desc, kind, qos)
     }
     pub fn domain_id(&self) -> u16 {
-        self.inner
-            .lock()
-            .expect("couldn't lock DomainParticipantDisc")
-            .domain_id()
+        let mut node = MCSNode::new();
+        self.inner.lock(&mut node).domain_id()
     }
     pub fn participant_id(&self) -> u16 {
-        self.inner
-            .lock()
-            .expect("couldn't lock DomainParticipantDisc")
-            .participant_id()
+        let mut node = MCSNode::new();
+        self.inner.lock(&mut node).participant_id()
     }
     pub(crate) fn gen_entity_key(&self) -> [u8; 3] {
-        self.inner
-            .lock()
-            .expect("couldn't lock DomainParticipantDisc")
-            .gen_entity_key()
+        let mut node = MCSNode::new();
+        self.inner.lock(&mut node).gen_entity_key()
     }
     pub fn get_default_publisher_qos(&self) -> PublisherQosPolicies {
-        self.inner
-            .lock()
-            .expect("couldn't lock DomainParticipantDisc")
-            .get_default_publisher_qos()
+        let mut node = MCSNode::new();
+        self.inner.lock(&mut node).get_default_publisher_qos()
     }
     pub fn set_default_publisher_qos(&mut self, qos: PublisherQosPolicies) {
-        self.inner
-            .lock()
-            .expect("couldn't lock DomainParticipantDisc")
-            .set_default_publisher_qos(qos);
+        let mut node = MCSNode::new();
+        self.inner.lock(&mut node).set_default_publisher_qos(qos);
     }
     pub fn get_default_subscriber_qos(&self) -> SubscriberQosPolicies {
-        self.inner
-            .lock()
-            .expect("couldn't lock DomainParticipantDisc")
-            .get_default_subscriber_qos()
+        let mut node = MCSNode::new();
+        self.inner.lock(&mut node).get_default_subscriber_qos()
     }
     pub fn set_default_subscriber_qos(&mut self, qos: SubscriberQosPolicies) {
-        self.inner
-            .lock()
-            .expect("couldn't lock DomainParticipantDisc")
-            .set_default_subscriber_qos(qos);
+        let mut node = MCSNode::new();
+        self.inner.lock(&mut node).set_default_subscriber_qos(qos);
     }
     pub fn get_default_topic_qos(&self) -> TopicQosPolicies {
-        self.inner
-            .lock()
-            .expect("couldn't lock DomainParticipantDisc")
-            .get_default_topic_qos()
+        let mut node = MCSNode::new();
+        self.inner.lock(&mut node).get_default_topic_qos()
     }
     pub fn set_default_topic_qos(&mut self, qos: TopicQosPolicies) {
-        self.inner
-            .lock()
-            .expect("couldn't lock DomainParticipantDisc")
-            .set_default_topic_qos(qos);
+        let mut node = MCSNode::new();
+        self.inner.lock(&mut node).set_default_topic_qos(qos);
     }
 }
 
@@ -198,16 +179,10 @@ impl DomainParticipantDisc {
         }
     }
     pub fn create_publisher(&self, dp: DomainParticipant, qos: PublisherQos) -> Publisher {
-        self.inner
-            .read()
-            .expect("couldn't read lock DomainParticipantInnet")
-            .create_publisher(dp, qos)
+        self.inner.read().create_publisher(dp, qos)
     }
     pub fn create_subscriber(&self, dp: DomainParticipant, qos: SubscriberQos) -> Subscriber {
-        self.inner
-            .read()
-            .expect("couldn't read lock DomainParticipantInnet")
-            .create_subscriber(dp, qos)
+        self.inner.read().create_subscriber(dp, qos)
     }
     pub fn create_topic(
         &self,
@@ -219,62 +194,34 @@ impl DomainParticipantDisc {
     ) -> Topic {
         self.inner
             .read()
-            .expect("couldn't read lock DomainParticipantInnet")
             .create_topic(dp, name, type_desc, kind, qos)
     }
     pub fn domain_id(&self) -> u16 {
-        self.inner
-            .read()
-            .expect("couldn't read lock DomainParticipantInnet")
-            .domain_id
+        self.inner.read().domain_id
     }
     pub fn participant_id(&self) -> u16 {
-        self.inner
-            .read()
-            .expect("couldn't read lock DomainParticipantInnet")
-            .participant_id
+        self.inner.read().participant_id
     }
     pub fn gen_entity_key(&self) -> [u8; 3] {
-        self.inner
-            .read()
-            .expect("couldn't read lock DomainParticipantInnet")
-            .gen_entity_key()
+        self.inner.read().gen_entity_key()
     }
     pub fn get_default_publisher_qos(&self) -> PublisherQosPolicies {
-        self.inner
-            .read()
-            .expect("couldn't read lock DomainParticipantInnet")
-            .get_default_publisher_qos()
+        self.inner.read().get_default_publisher_qos()
     }
     pub fn set_default_publisher_qos(&mut self, qos: PublisherQosPolicies) {
-        self.inner
-            .write()
-            .expect("couldn't write lock DomainParticipantInnet")
-            .set_default_publisher_qos(qos);
+        self.inner.write().set_default_publisher_qos(qos);
     }
     pub fn get_default_subscriber_qos(&self) -> SubscriberQosPolicies {
-        self.inner
-            .read()
-            .expect("couldn't read lock DomainParticipantInnet")
-            .get_default_subscriber_qos()
+        self.inner.read().get_default_subscriber_qos()
     }
     pub fn set_default_subscriber_qos(&mut self, qos: SubscriberQosPolicies) {
-        self.inner
-            .write()
-            .expect("couldn't write lock DomainParticipantInnet")
-            .set_default_subscriber_qos(qos);
+        self.inner.write().set_default_subscriber_qos(qos);
     }
     pub fn get_default_topic_qos(&self) -> TopicQosPolicies {
-        self.inner
-            .read()
-            .expect("couldn't read lock DomainParticipantInnet")
-            .get_default_topic_qos()
+        self.inner.read().get_default_topic_qos()
     }
     pub fn set_default_topic_qos(&mut self, qos: TopicQosPolicies) {
-        self.inner
-            .write()
-            .expect("couldn't write lock DomainParticipantInnet")
-            .set_default_topic_qos(qos);
+        self.inner.write().set_default_topic_qos(qos);
     }
 }
 impl Drop for DomainParticipantDisc {
@@ -287,10 +234,7 @@ impl Drop for DomainParticipantDisc {
 
 impl RTPSEntity for DomainParticipantDisc {
     fn guid(&self) -> GUID {
-        self.inner
-            .read()
-            .expect("couldn't read lock DomainParticipantInnet")
-            .my_guid
+        self.inner.read().my_guid
     }
 }
 

diff --git a/src/dds/publisher.rs b/src/dds/publisher.rs
@@ -10,8 +10,8 @@ use crate::network::net_util::{usertraffic_multicast_port, usertraffic_unicast_p
 use crate::rtps::writer::{DataWriterStatusChanged, WriterCmd, WriterIngredients};
 use crate::structure::{Duration, EntityId, EntityKind, RTPSEntity, GUID};
 use alloc::sync::Arc;
+use awkernel_sync::rwlock::RwLock;
 use mio_extras::channel as mio_channel;
-use std::sync::RwLock;
 
 /// DDS Publisher
 ///
@@ -60,7 +60,6 @@ impl Publisher {
     ) -> DataWriter<D> {
         self.inner
             .read()
-            .expect("couldn't read lock InnerPublisher")
             .create_datawriter(qos, topic, self.clone())
     }
 
@@ -72,42 +71,24 @@ impl Publisher {
     ) -> DataWriter<D> {
         self.inner
             .read()
-            .expect("couldn't read lock InnerPublisher")
             .create_datawriter_with_entityid(qos, topic, self.clone(), entity_id)
     }
 
     pub fn get_qos(&self) -> PublisherQosPolicies {
-        self.inner
-            .read()
-            .expect("couldn't read lock InnerPublisher")
-            .get_qos()
+        self.inner.read().get_qos()
     }
     pub fn set_qos(&mut self, qos: PublisherQosPolicies) {
-        self.inner
-            .write()
-            .expect("couldn't write lock InnerPublisher")
-            .set_qos(qos);
+        self.inner.write().set_qos(qos);
     }
 
     pub fn domain_participant(&self) -> DomainParticipant {
-        self.inner
-            .read()
-            .expect("couldn't read lock InnerPublisher")
-            .dp
-            .clone()
+        self.inner.read().dp.clone()
     }
     pub fn get_default_datawriter_qos(&self) -> DataWriterQosPolicies {
-        self.inner
-            .read()
-            .expect("couldn't read lock InnerPublisher")
-            .default_dw_qos
-            .clone()
+        self.inner.read().default_dw_qos.clone()
     }
     pub fn set_default_datawriter_qos(&mut self, qos: DataWriterQosPolicies) {
-        self.inner
-            .write()
-            .expect("couldn't write lock InnerPublisher")
-            .default_dw_qos = qos;
+        self.inner.write().default_dw_qos = qos;
     }
 }