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msgq: connect immediately #588

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msgq: connect immediately #588

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9a2ab34
stash
sshane Feb 15, 2024
d0a0099
needs to be before reader uid reset
sshane Feb 15, 2024
384c6a5
clean up
sshane Feb 15, 2024
7fa84db
Update messaging/impl_msgq.cc
sshane Feb 15, 2024
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24 changes: 15 additions & 9 deletions messaging/msgq.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -142,11 +142,26 @@ void msgq_close_queue(msgq_queue_t *q){
}
}

static void thread_signal(uint32_t tid) {
#ifndef SYS_tkill
// TODO: this won't work for multithreaded programs
kill(tid, SIGUSR2);
#else
syscall(SYS_tkill, tid, SIGUSR2);
#endif
}

void msgq_init_publisher(msgq_queue_t * q) {
//std::cout << "Starting publisher" << std::endl;
uint64_t uid = msgq_get_uid();

// Notify readers to connect
uint64_t num_readers = *q->num_readers;
for (uint64_t i = 0; i < num_readers; i++){
uint64_t reader_uid = *q->read_uids[i];
thread_signal(reader_uid & 0xFFFFFFFF);
}

*q->write_uid = uid;
*q->num_readers = 0;

Expand All @@ -158,15 +173,6 @@ void msgq_init_publisher(msgq_queue_t * q) {
q->write_uid_local = uid;
}

static void thread_signal(uint32_t tid) {
#ifndef SYS_tkill
// TODO: this won't work for multithreaded programs
kill(tid, SIGUSR2);
#else
syscall(SYS_tkill, tid, SIGUSR2);
#endif
}

void msgq_init_subscriber(msgq_queue_t * q) {
assert(q != NULL);
assert(q->num_readers != NULL);
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