AirLib/include/common/WorkerThread.hpp - master - vasandi/AirSim

AirLib/include/common/WorkerThread.hpp
318 строк9 KB
Андрей Васильченко
сборка под ubuntu 26.04
08 июл 2026, 10:15
08 июл 2026, 10:15d53c5a2
// Copyright (c) Microsoft Corporation. All rights reserved.
// Licensed under the MIT License.

#ifndef commn_utils_WorkerThread_hpp
#define commn_utils_WorkerThread_hpp

#include <functional>
#include <thread>
#include <atomic>
#include <vector>
#include <memory>
#include <exception>
#include <future>
#include <mutex>
#include "common/common_utils/Utils.hpp"
#include "ClockFactory.hpp" //TODO: move this out of common_utils
#include "CancelToken.hpp"

namespace msr
{
namespace airlib
{

    class CancelableAction : public CancelToken
    {
    protected:
        virtual void executeAction() = 0;

    public:
        CancelableAction()
            : is_complete_(false)
        {
        }
        virtual ~CancelableAction();

        void reset()
        {
            is_complete_ = false;
        }

        void execute()
        {
            try {
                executeAction();
                is_complete_ = true;
            }
            catch (...) {
                is_complete_ = false;
                throw;
            }
        }

        bool isComplete() const
        {
            return is_complete_;
        }

    private:
        std::atomic<bool> is_complete_;
    };

    // This wraps a condition_variable so we can handle the case where we may signal before wait
    // and implement the semantics that say wait should be a noop in that case.
    class WorkerThreadSignal
    {
        std::condition_variable cv_;
        std::mutex mutex_;
        std::atomic<bool> signaled_;

    public:
        WorkerThreadSignal()
            : signaled_(false)
        {
        }

        void signal()
        {
            {
                std::unique_lock<std::mutex> lock(mutex_);
                signaled_ = true;
            }
            cv_.notify_one();
        }

        template <class _Predicate>
        void wait(_Predicate cancel)
        {
            // wait for signal or cancel predicate
            while (!signaled_) {
                std::unique_lock<std::mutex> lock(mutex_);
                cv_.wait_for(lock, std::chrono::milliseconds(1), [this, cancel] {
                    return cancel();
                });
            }
            signaled_ = false;
        }

        bool waitFor(double timeout_sec)
        {
            // wait for signal or timeout or cancel predicate
            while (!signaled_) {
                std::unique_lock<std::mutex> lock(mutex_);
                cv_.wait_for(lock, std::chrono::milliseconds(static_cast<long long>(timeout_sec * 1000)));
            }
            signaled_ = false;
            return true;
        }

        void wait()
        {
            // wait for signal or timeout or cancel predicate
            std::unique_lock<std::mutex> lock(mutex_);
            while (!signaled_) {
                cv_.wait(lock);
            }
            lock.unlock();
            signaled_ = false;
        }

        bool waitForRetry(double timeout_sec, int n_times)
        {
            std::unique_lock<std::mutex> lock(mutex_);
            while (!signaled_ && n_times > 0) {
                cv_.wait_for(lock, std::chrono::milliseconds(static_cast<long long>(timeout_sec * 1000)));
                --n_times;
            }
            lock.unlock();
            if (n_times == 0 && !signaled_) {
                return false;
            }
            else {
                signaled_ = false;
                return true;
            }
        }
    };

    // This class provides a synchronized worker thread that guarantees to execute
    // cancelable tasks on a background thread one at a time.
    // It guarantees that previous task is canceled before new task is started.
    // The queue size is 1, which means it does NOT guarantee all queued tasks are executed.
    // If enqueue is called very quickly the thread will not have a chance to execute each
    // task before they get canceled, worst case in a tight loop all tasks are starved and
    // nothing executes.
    class WorkerThread
    {
    public:
        WorkerThread()
            : thread_running_(false), cancel_request_(false)
        {
        }

        ~WorkerThread()
        {
            cancel_request_ = true;
            cancel();
        }
        void enqueue(std::shared_ptr<CancelableAction> item)
        {
            //cancel previous item
            {
                std::unique_lock<std::mutex> lock(mutex_);
                std::shared_ptr<CancelableAction> pending = pending_item_;
                if (pending != nullptr) {
                    pending->cancel();
                }
            }

            bool running = false;

            {
                std::unique_lock<std::mutex> lock(mutex_);
                pending_item_ = item;
                running = thread_running_;
            }

            if (running) {
                item_arrived_.signal();
            }
            else {
                start();
            }
        }

        bool enqueueAndWait(std::shared_ptr<CancelableAction> item, float timeout_sec)
        {
            //cancel previous item
            {
                std::unique_lock<std::mutex> lock(mutex_);
                std::shared_ptr<CancelableAction> pending = pending_item_;
                if (pending != nullptr) {
                    pending->cancel();
                }
            }

            bool running = false;

            //set new item to run
            {
                std::unique_lock<std::mutex> lock(mutex_);
                pending_item_ = item;
                running = thread_running_;
            }

            if (running) {
                item_arrived_.signal();
            }
            else {
                start();
            }

            item->sleep(timeout_sec);

            //after the wait if item is still running then cancel it
            if (!item->isCancelled() && !item->isComplete())
                item->cancel();

            return !item->isCancelled();
        }

        void cancel()
        {
            std::unique_lock<std::mutex> lock(mutex_);
            std::shared_ptr<CancelableAction> pending = pending_item_;
            pending_item_ = nullptr;
            if (pending != nullptr) {
                pending->cancel();
            }
            if (thread_.joinable()) {
                item_arrived_.signal();
                thread_.join();
            }
        }

    private:
        void start()
        {
            //if state == not running
            if (!thread_running_) {

                //make sure C++ previous thread is done
                {
                    std::unique_lock<std::mutex> lock(mutex_);
                    if (thread_.joinable()) {
                        thread_.join();
                    }
                }
                Utils::cleanupThread(thread_);

                //start the thread
                cancel_request_ = false;
                thread_ = std::thread(&WorkerThread::run, this);

                //wait until thread tells us it has started
                thread_started_.wait([this] { return static_cast<bool>(cancel_request_); });
            }
        }

        void run()
        {
            thread_running_ = true;

            //tell the thread which started this thread that we are on now
            {
                std::unique_lock<std::mutex> lock(mutex_);
                thread_started_.signal();
            }

            //until we don't get stopped and have work to do, keep running
            while (!cancel_request_ && pending_item_ != nullptr) {
                std::shared_ptr<CancelableAction> pending;

                //get the pending item
                {
                    std::unique_lock<std::mutex> lock(mutex_);
                    pending = pending_item_;
                }

                //if pending item is not yet cancelled
                if (pending != nullptr && !pending->isCancelled()) {

                    //execute pending item
                    try {
                        pending->execute();
                    }
                    catch (std::exception& e) {
                        //Utils::DebugBreak();
                        Utils::log(Utils::stringf("WorkerThread caught unhandled exception: %s", e.what()), Utils::kLogLevelError);
                    }
                }

                if (!cancel_request_) {
                    //wait for next item to arrive or thread is stopped
                    item_arrived_.wait([this] { return static_cast<bool>(cancel_request_); });
                }
            }

            thread_running_ = false;
        }

    private:
        //this is used to wait until our thread actually gets started
        WorkerThreadSignal thread_started_;
        //when new item arrived, we signal this so waiting thread can continue
        WorkerThreadSignal item_arrived_;

        // thread state
        std::shared_ptr<CancelableAction> pending_item_;
        std::mutex mutex_;
        std::thread thread_;
        //while run() is in progress this is true
        std::atomic<bool> thread_running_;
        //has request to stop this worker thread made?
        std::atomic<bool> cancel_request_;
    };
}
} //namespace
#endif