io_interface.h

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// Copyright 2019-2026:
//   GobySoft, LLC (2013-)
//   Community contributors (see AUTHORS file)
// File authors:
//   Toby Schneider <toby@gobysoft.org>
//   Copilot <198982749+Copilot@users.noreply.github.com>
//
//
// This file is part of the Goby Underwater Autonomy Project Libraries
// ("The Goby Libraries").
//
// The Goby Libraries are free software: you can redistribute them and/or modify
// them under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 2.1 of the License, or
// (at your option) any later version.
//
// The Goby Libraries are distributed in the hope that they will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with Goby.  If not, see <http://www.gnu.org/licenses/>.
 
#ifndef GOBY_MIDDLEWARE_IO_DETAIL_IO_INTERFACE_H
#define GOBY_MIDDLEWARE_IO_DETAIL_IO_INTERFACE_H
 
#include <chrono>    // for seconds
#include <exception> // for exception
#include <memory>    // for shared_ptr
#include <mutex>     // for mutex, lock_...
#include <ostream>   // for endl, size_t
#include <string>    // for string, oper...
#include <thread>    // for thread
#include <unistd.h>  // for usleep
 
#include <boost/asio/write.hpp>        // for async_write
#include <boost/asio/post.hpp>
#include <boost/system/error_code.hpp> // for error_code
 
#include "goby/exception.h"                           // for Exception
#include "goby/middleware/application/multi_thread.h" // for SimpleThread
#include "goby/middleware/common.h"                   // for thread_id
#include "goby/middleware/io/groups.h"                // for status
#include "goby/middleware/protobuf/io.pb.h"           // for IOError, IOS...
#include "goby/time/steady_clock.h"                   // for SteadyClock
#include "goby/util/asio_compat.h"
#include "goby/util/debug_logger.h" // for glog
 
#include "io_transporters.h"
 
namespace goby
{
namespace middleware
{
class Group;
class InterThreadTransporter;
template <typename InnerTransporter, typename ImplementationTag> class InterProcessForwarder;
namespace io
{
enum class ThreadState
{
    SUBSCRIPTIONS_COMPLETE
};
 
namespace detail
{
template <typename ProtobufEndpoint, typename ASIOEndpoint>
ProtobufEndpoint endpoint_convert(const ASIOEndpoint& asio_ep)
{
    ProtobufEndpoint pb_ep;
    pb_ep.set_addr(asio_ep.address().to_string());
    pb_ep.set_port(asio_ep.port());
    return pb_ep;
}
 
template <const goby::middleware::Group& line_in_group,
          const goby::middleware::Group& line_out_group, PubSubLayer publish_layer,
          PubSubLayer subscribe_layer, typename IOConfig, typename SocketType,
          template <class> class ThreadType, bool use_indexed_groups = false>
class IOThread
    : public ThreadType<IOConfig>,
      public IOPublishTransporter<
          IOThread<line_in_group, line_out_group, publish_layer, subscribe_layer, IOConfig,
                   SocketType, ThreadType, use_indexed_groups>,
          line_in_group, publish_layer,
          typename ThreadType<IOConfig>::Transporter::implementation_tag, use_indexed_groups>,
      public IOSubscribeTransporter<
          IOThread<line_in_group, line_out_group, publish_layer, subscribe_layer, IOConfig,
                   SocketType, ThreadType, use_indexed_groups>,
          line_out_group, subscribe_layer,
          typename ThreadType<IOConfig>::Transporter::implementation_tag, use_indexed_groups>
{
  public:
    IOThread(const IOConfig& config, int index, std::string glog_group = "i/o")
        : ThreadType<IOConfig>(config, this->loop_max_frequency(), index),
          IOPublishTransporter<
              IOThread<line_in_group, line_out_group, publish_layer, subscribe_layer, IOConfig,
                       SocketType, ThreadType, use_indexed_groups>,
              line_in_group, publish_layer,
              typename ThreadType<IOConfig>::Transporter::implementation_tag, use_indexed_groups>(
              index),
          IOSubscribeTransporter<
              IOThread<line_in_group, line_out_group, publish_layer, subscribe_layer, IOConfig,
                       SocketType, ThreadType, use_indexed_groups>,
              line_out_group, subscribe_layer,
              typename ThreadType<IOConfig>::Transporter::implementation_tag, use_indexed_groups>(
              index),
          glog_group_(glog_group + " / t" + std::to_string(goby::middleware::gettid())),
          thread_name_(glog_group)
    {
        auto data_out_callback =
            [this](std::shared_ptr<const goby::middleware::protobuf::IOData> io_msg)
        {
            if (!io_msg->has_index() || io_msg->index() == this->index())
            {
                write(io_msg);
            }
        };
 
        this->template subscribe_out<goby::middleware::protobuf::IOData>(data_out_callback);
 
        if (!glog_group_added_)
        {
            goby::glog.add_group(glog_group_, goby::util::Colors::red);
            glog_group_added_ = true;
        }
    }
 
    void initialize() override
    {
        // thread to handle synchonization between boost::asio and goby condition_variable signaling
        incoming_mail_notify_thread_.reset(new std::thread(
            [this]()
            {
                while (this->alive())
                {
                    std::unique_lock<std::mutex> lock(incoming_mail_notify_mutex_);
                    this->interthread().cv()->wait(lock);
                    // post empty handler to cause loop() to return and allow incoming mail to be handled
                    boost::asio::post(io_, []() {});
                }
            }));
 
        this->set_name(thread_name_);
    }
 
    void finalize() override
    {
        // join incoming mail thread
        {
            std::lock_guard<std::mutex> l(incoming_mail_notify_mutex_);
            this->interthread().cv()->notify_all();
        }
        incoming_mail_notify_thread_->join();
        incoming_mail_notify_thread_.reset();
    }
 
    virtual ~IOThread()
    {
        socket_.reset();
 
        // for non clean shutdown, avoid abort
        if (incoming_mail_notify_thread_)
            incoming_mail_notify_thread_->detach();
 
        auto status = std::make_shared<protobuf::IOStatus>();
        status->set_state(protobuf::IO__LINK_CLOSED);
 
        this->publish_in(status);
        this->template unsubscribe_out<goby::middleware::protobuf::IOData>();
    }
 
    template <class IOThreadImplementation>
    friend void basic_async_write(IOThreadImplementation* this_thread,
                                  std::shared_ptr<const goby::middleware::protobuf::IOData> io_msg);
 
  protected:
    void write(std::shared_ptr<const goby::middleware::protobuf::IOData> io_msg)
    {
        goby::glog.is_debug2() &&
            goby::glog << group(glog_group_) << "(" << io_msg->data().size() << "B) <"
                       << ((this->index() == -1) ? std::string() : std::to_string(this->index()))
                       << " " << io_msg->ShortDebugString() << std::endl;
        if (io_msg->data().empty())
            return;
        if (!socket_ || !socket_->is_open())
            return;
 
        this->async_write(io_msg);
    }
 
    void handle_read_success(std::size_t bytes_transferred, const std::string& bytes)
    {
        auto io_msg = std::make_shared<goby::middleware::protobuf::IOData>();
        *io_msg->mutable_data() = bytes;
 
        handle_read_success(bytes_transferred, io_msg);
    }
 
    void handle_read_success(std::size_t bytes_transferred,
                             std::shared_ptr<goby::middleware::protobuf::IOData> io_msg)
    {
        if (this->index() != -1)
            io_msg->set_index(this->index());
 
        goby::glog.is_debug2() &&
            goby::glog << group(glog_group_) << "(" << bytes_transferred << "B) >"
                       << ((this->index() == -1) ? std::string() : std::to_string(this->index()))
                       << " " << io_msg->ShortDebugString() << std::endl;
 
        this->publish_in(io_msg);
    }
 
    void handle_write_success(std::size_t bytes_transferred) {}
    void handle_read_error(const boost::system::error_code& ec);
    void handle_write_error(const boost::system::error_code& ec);
 
    SocketType& mutable_socket()
    {
        if (socket_)
            return *socket_;
        else
            throw goby::Exception("Attempted to access null socket/serial_port");
    }
 
    boost::asio::io_context& mutable_io() { return io_; }
 
    bool socket_is_open() { return socket_ && socket_->is_open(); }
 
    virtual void open_socket() = 0;
 
    virtual void async_read() = 0;
 
    virtual void async_write(std::shared_ptr<const goby::middleware::protobuf::IOData> io_msg) = 0;
 
    const std::string& glog_group() { return glog_group_; }
 
  private:
    void try_open();
 
    void loop() override;
 
  private:
    boost::asio::io_context io_;
    std::unique_ptr<SocketType> socket_;
 
    const goby::time::SteadyClock::duration min_backoff_interval_{std::chrono::seconds(1)};
    const goby::time::SteadyClock::duration max_backoff_interval_{std::chrono::seconds(128)};
    goby::time::SteadyClock::duration backoff_interval_{min_backoff_interval_};
    goby::time::SteadyClock::time_point next_open_attempt_{goby::time::SteadyClock::now()};
 
    std::mutex incoming_mail_notify_mutex_;
    std::unique_ptr<std::thread> incoming_mail_notify_thread_;
 
    std::string glog_group_;
    std::string thread_name_;
    bool glog_group_added_{false};
};
 
template <class IOThreadImplementation>
void basic_async_write(IOThreadImplementation* this_thread,
                       std::shared_ptr<const goby::middleware::protobuf::IOData> io_msg)
{
    boost::asio::async_write(
        this_thread->mutable_socket(), boost::asio::buffer(io_msg->data()),
        // capture io_msg in callback to ensure write buffer exists until async_write is done
        [this_thread, io_msg](const boost::system::error_code& ec, std::size_t bytes_transferred)
        {
            if (!ec && bytes_transferred > 0)
            {
                this_thread->handle_write_success(bytes_transferred);
            }
            else
            {
                this_thread->handle_write_error(ec);
            }
        });
}
 
} // namespace detail
} // namespace io
} // namespace middleware
} // namespace goby
 
template <const goby::middleware::Group& line_in_group,
          const goby::middleware::Group& line_out_group,
          goby::middleware::io::PubSubLayer publish_layer,
          goby::middleware::io::PubSubLayer subscribe_layer, typename IOConfig, typename SocketType,
          template <class> class ThreadType, bool use_indexed_groups>
void goby::middleware::io::detail::IOThread<line_in_group, line_out_group, publish_layer,
                                            subscribe_layer, IOConfig, SocketType, ThreadType,
                                            use_indexed_groups>::try_open()
{
    try
    {
        socket_.reset(new SocketType(io_));
        open_socket();
 
        // messages read from the socket
        this->async_read();
 
        // reset io_context, which ran out of work
        io_.restart();
 
        // successful, reset backoff
        backoff_interval_ = min_backoff_interval_;
 
        auto status = std::make_shared<protobuf::IOStatus>();
        if (this->index() != -1)
            status->set_index(this->index());
 
        status->set_state(protobuf::IO__LINK_OPEN);
        this->publish_in(status);
 
        goby::glog.is_debug2() && goby::glog << group(glog_group_) << "Successfully opened socket"
                                             << std::endl;
 
        // update to avoid thrashing on open success but read/write failure
        decltype(next_open_attempt_) now(goby::time::SteadyClock::now());
        next_open_attempt_ = now + backoff_interval_;
    }
    catch (const std::exception& e)
    {
        auto status = std::make_shared<protobuf::IOStatus>();
        if (this->index() != -1)
            status->set_index(this->index());
 
        status->set_state(protobuf::IO__CRITICAL_FAILURE);
        goby::middleware::protobuf::IOError& error = *status->mutable_error();
        error.set_code(goby::middleware::protobuf::IOError::IO__INIT_FAILURE);
        error.set_text(e.what() + std::string(": config (") + this->cfg().ShortDebugString() + ")");
        this->publish_in(status);
 
        goby::glog.is_warn() && goby::glog << group(glog_group_)
                                           << "Failed to open/configure socket/serial_port: "
                                           << error.ShortDebugString() << std::endl;
 
        if (backoff_interval_ < max_backoff_interval_)
            backoff_interval_ *= 2.0;
 
        decltype(next_open_attempt_) now(goby::time::SteadyClock::now());
        next_open_attempt_ = now + backoff_interval_;
 
        goby::glog.is_warn() && goby::glog << group(glog_group_) << "Will retry in "
                                           << backoff_interval_ / std::chrono::seconds(1)
                                           << " seconds" << std::endl;
        socket_.reset();
    }
}
 
template <const goby::middleware::Group& line_in_group,
          const goby::middleware::Group& line_out_group,
          goby::middleware::io::PubSubLayer publish_layer,
          goby::middleware::io::PubSubLayer subscribe_layer, typename IOConfig, typename SocketType,
          template <class> class ThreadType, bool use_indexed_groups>
void goby::middleware::io::detail::IOThread<line_in_group, line_out_group, publish_layer,
                                            subscribe_layer, IOConfig, SocketType, ThreadType,
                                            use_indexed_groups>::loop()
{
    if (socket_ && socket_->is_open())
    {
        // run the io service (blocks until either we read something
        // from the socket or a subscription is available
        // as signaled from an empty handler in the incoming_mail_notify_thread)
        io_.run_one();
    }
    else
    {
        decltype(next_open_attempt_) now(goby::time::SteadyClock::now());
        if (now > next_open_attempt_)
        {
            try_open();
        }
        else
        {
            // poll in case we need to quit
            io_.poll();
            usleep(100000); // avoid pegging CPU while waiting to attempt reopening socket
        }
    }
}
 
template <const goby::middleware::Group& line_in_group,
          const goby::middleware::Group& line_out_group,
          goby::middleware::io::PubSubLayer publish_layer,
          goby::middleware::io::PubSubLayer subscribe_layer, typename IOConfig, typename SocketType,
          template <class> class ThreadType, bool use_indexed_groups>
void goby::middleware::io::detail::IOThread<
    line_in_group, line_out_group, publish_layer, subscribe_layer, IOConfig, SocketType, ThreadType,
    use_indexed_groups>::handle_read_error(const boost::system::error_code& ec)
{
    auto status = std::make_shared<protobuf::IOStatus>();
    if (this->index() != -1)
        status->set_index(this->index());
 
    status->set_state(protobuf::IO__CRITICAL_FAILURE);
    goby::middleware::protobuf::IOError& error = *status->mutable_error();
    error.set_code(goby::middleware::protobuf::IOError::IO__READ_FAILURE);
    error.set_text(ec.message());
    this->publish_in(status);
 
    goby::glog.is_warn() && goby::glog << group(glog_group_)
                                       << "Failed to read from the socket/serial_port: "
                                       << error.ShortDebugString() << std::endl;
 
    socket_.reset();
}
 
template <const goby::middleware::Group& line_in_group,
          const goby::middleware::Group& line_out_group,
          goby::middleware::io::PubSubLayer publish_layer,
          goby::middleware::io::PubSubLayer subscribe_layer, typename IOConfig, typename SocketType,
          template <class> class ThreadType, bool use_indexed_groups>
void goby::middleware::io::detail::IOThread<
    line_in_group, line_out_group, publish_layer, subscribe_layer, IOConfig, SocketType, ThreadType,
    use_indexed_groups>::handle_write_error(const boost::system::error_code& ec)
{
    auto status = std::make_shared<protobuf::IOStatus>();
    if (this->index() != -1)
        status->set_index(this->index());
 
    status->set_state(protobuf::IO__CRITICAL_FAILURE);
    goby::middleware::protobuf::IOError& error = *status->mutable_error();
    error.set_code(goby::middleware::protobuf::IOError::IO__WRITE_FAILURE);
    error.set_text(ec.message());
    this->publish_in(status);
 
    goby::glog.is_warn() && goby::glog << group(glog_group_)
                                       << "Failed to write to the socket/serial_port: "
                                       << error.ShortDebugString() << std::endl;
    socket_.reset();
}
 
#endif