mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2025-01-07 07:50:32 +00:00
Replace the System V queues by boost::interprocess
This commit is contained in:
Carles Fernandez
parent
47e3cab802
commit
cfb56d35d6
@ -106,6 +106,7 @@ All notable changes to GNSS-SDR will be documented in this file.
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Accordingly, the GNSS-SDR building system now looks for OpenSSL in the first
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place and, if not found, then it looks for GnuTLS as a fallback.
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- Allow linking against Boost 1.87.0.
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- Replace the System V queues by boost::interprocess, improving portability.
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### Reliability
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@ -77,8 +77,6 @@
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#include <locale> // for locale
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#include <sstream> // for ostringstream
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#include <stdexcept> // for length_error
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#include <sys/ipc.h> // for IPC_CREAT
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#include <sys/msg.h> // for msgctl
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#include <typeinfo> // for std::type_info, typeid
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#include <utility> // for pair
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@ -130,6 +128,7 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
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: gr::sync_block("rtklib_pvt_gs",
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gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)),
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gr::io_signature::make(0, 0, 0)),
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d_queue_name("gnss_sdr_ttff_message_queue"),
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d_dump_filename(conf_.dump_filename),
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d_geohash(std::make_unique<Geohash>()),
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d_gps_ephemeris_sptr_type_hash_code(typeid(std::shared_ptr<Gps_Ephemeris>).hash_code()),
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@ -509,14 +508,26 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
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d_eph_udp_sink_ptr = nullptr;
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}
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// Create Sys V message queue
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// Create message queue
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d_first_fix = true;
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d_sysv_msg_key = 1101;
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const int msgflg = IPC_CREAT | 0666;
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if ((d_sysv_msqid = msgget(d_sysv_msg_key, msgflg)) == -1)
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const std::size_t max_num_messages = 100;
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try
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{
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std::cout << "GNSS-SDR cannot create System V message queues.\n";
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LOG(WARNING) << "The System V message queue is not available. Error: " << errno << " - " << strerror(errno);
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// Remove any existing queue with the same name
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boost::interprocess::message_queue::remove(d_queue_name.c_str());
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// Create a new message queue
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d_mq = std::make_unique<boost::interprocess::message_queue>(
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boost::interprocess::create_only, // Create a new queue
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d_queue_name.c_str(), // Queue name
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max_num_messages, // Maximum number of messages
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sizeof(double) // Maximum message size
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);
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}
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catch (const boost::interprocess::interprocess_exception& e)
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{
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std::cerr << "Error creating message queue: " << e.what() << std::endl;
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}
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// Display time in local time zone
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@ -601,9 +612,9 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
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rtklib_pvt_gs::~rtklib_pvt_gs()
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{
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DLOG(INFO) << "PVT block destructor called.";
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if (d_sysv_msqid != -1)
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if (d_mq)
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{
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msgctl(d_sysv_msqid, IPC_RMID, nullptr);
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boost::interprocess::message_queue::remove(d_queue_name.c_str());
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}
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try
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{
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@ -1732,21 +1743,19 @@ void rtklib_pvt_gs::clear_ephemeris()
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}
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bool rtklib_pvt_gs::send_sys_v_ttff_msg(d_ttff_msgbuf ttff) const
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bool rtklib_pvt_gs::send_ttff_msg(double ttff) const
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{
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if (d_sysv_msqid != -1)
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if (d_mq)
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{
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// Fill Sys V message structures
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int msgsend_size;
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d_ttff_msgbuf msg;
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msg.ttff = ttff.ttff;
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msgsend_size = sizeof(msg.ttff);
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msg.mtype = 1; // default message ID
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// SEND SOLUTION OVER A MESSAGE QUEUE
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// non-blocking Sys V message send
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msgsnd(d_sysv_msqid, &msg, msgsend_size, IPC_NOWAIT);
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return true;
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try
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{
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d_mq->send(&ttff, sizeof(ttff), 0); // Priority 0
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return true;
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}
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catch (const boost::interprocess::interprocess_exception& e)
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{
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std::cerr << "Error sending message: " << e.what() << std::endl;
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}
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}
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return false;
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}
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@ -2389,12 +2398,10 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
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}
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std::cout << " is Lat = " << d_user_pvt_solver->get_latitude() << " [deg], Long = " << d_user_pvt_solver->get_longitude()
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<< " [deg], Height= " << d_user_pvt_solver->get_height() << " [m]\n";
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d_ttff_msgbuf ttff;
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ttff.mtype = 1;
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d_end = std::chrono::system_clock::now();
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std::chrono::duration<double> elapsed_seconds = d_end - d_start;
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ttff.ttff = elapsed_seconds.count();
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send_sys_v_ttff_msg(ttff);
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double ttff = elapsed_seconds.count();
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send_ttff_msg(ttff);
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d_first_fix = false;
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}
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if (d_kml_output_enabled)
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@ -18,12 +18,14 @@
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#define GNSS_SDR_RTKLIB_PVT_GS_H
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#include "gnss_block_interface.h"
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#include "gnss_sdr_make_unique.h"
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#include "gnss_synchro.h"
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#include "gnss_time.h"
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#include "osnma_data.h"
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#include "rtklib.h"
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#include <boost/date_time/gregorian/gregorian.hpp>
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#include <boost/date_time/posix_time/posix_time.hpp>
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#include <boost/interprocess/ipc/message_queue.hpp>
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#include <gnuradio/sync_block.h> // for sync_block
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#include <gnuradio/types.h> // for gr_vector_const_void_star
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#include <pmt/pmt.h> // for pmt_t
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@ -37,7 +39,6 @@
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#include <queue> // for std::queue
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#include <set> // for std::set
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#include <string> // for string
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#include <sys/types.h> // for key_t
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#include <vector> // for vector
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/** \addtogroup PVT
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@ -166,13 +167,7 @@ private:
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std::vector<std::string> split_string(const std::string& s, char delim) const;
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typedef struct
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{
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long mtype; // NOLINT(google-runtime-int)
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double ttff;
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} d_ttff_msgbuf;
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bool send_sys_v_ttff_msg(d_ttff_msgbuf ttff) const;
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bool send_ttff_msg(double ttff) const;
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bool save_gnss_synchro_map_xml(const std::string& file_name); // debug helper function
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bool load_gnss_synchro_map_xml(const std::string& file_name); // debug helper function
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@ -181,6 +176,8 @@ private:
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std::shared_ptr<Rtklib_Solver> d_internal_pvt_solver;
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std::shared_ptr<Rtklib_Solver> d_user_pvt_solver;
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std::unique_ptr<boost::interprocess::message_queue> d_mq;
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std::unique_ptr<Rinex_Printer> d_rp;
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std::unique_ptr<Kml_Printer> d_kml_dump;
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std::unique_ptr<Gpx_Printer> d_gpx_dump;
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@ -195,6 +192,7 @@ private:
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std::chrono::time_point<std::chrono::system_clock> d_start;
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std::chrono::time_point<std::chrono::system_clock> d_end;
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std::string d_queue_name;
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std::string d_dump_filename;
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std::string d_xml_base_path;
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std::string d_local_time_str;
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@ -238,9 +236,6 @@ private:
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uint64_t d_local_counter_ms;
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uint64_t d_timestamp_rx_clock_offset_correction_msg_ms;
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key_t d_sysv_msg_key;
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int d_sysv_msqid;
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int32_t d_rinexobs_rate_ms;
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int32_t d_rtcm_MT1045_rate_ms; // Galileo Broadcast Ephemeris
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int32_t d_rtcm_MT1019_rate_ms; // GPS Broadcast Ephemeris (orbits)
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@ -36,34 +36,34 @@
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#include "gnss_flowgraph.h"
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#include "gnss_satellite.h"
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#include "gnss_sdr_flags.h"
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#include "gps_acq_assist.h" // for Gps_Acq_Assist
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#include "gps_almanac.h" // for Gps_Almanac
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#include "gps_cnav_ephemeris.h" // for Gps_CNAV_Ephemeris
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#include "gps_cnav_utc_model.h" // for Gps_CNAV_Utc_Model
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#include "gps_ephemeris.h" // for Gps_Ephemeris
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#include "gps_iono.h" // for Gps_Iono
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#include "gps_utc_model.h" // for Gps_Utc_Model
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#include "pvt_interface.h" // for PvtInterface
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#include "rtklib.h" // for gtime_t, alm_t
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#include "rtklib_conversions.h" // for alm_to_rtklib
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#include "rtklib_ephemeris.h" // for alm2pos, eph2pos
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#include "rtklib_rtkcmn.h" // for utc2gpst
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#include <armadillo> // for interaction with geofunctions
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#include <boost/lexical_cast.hpp> // for bad_lexical_cast
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#include <pmt/pmt.h> // for make_any
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#include <algorithm> // for find, min
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#include <chrono> // for milliseconds
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#include <cmath> // for floor, fmod, log
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#include <csignal> // for signal, SIGINT
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#include <ctime> // for time_t, gmtime, strftime
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#include <exception> // for exception
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#include <iostream> // for operator<<
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#include <limits> // for numeric_limits
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#include <map> // for map
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#include <pthread.h> // for pthread_cancel
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#include <stdexcept> // for invalid_argument
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#include <sys/ipc.h> // for IPC_CREAT
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#include <sys/msg.h> // for msgctl, msgget
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#include "gnss_sdr_make_unique.h"
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#include "gps_acq_assist.h" // for Gps_Acq_Assist
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#include "gps_almanac.h" // for Gps_Almanac
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#include "gps_cnav_ephemeris.h" // for Gps_CNAV_Ephemeris
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#include "gps_cnav_utc_model.h" // for Gps_CNAV_Utc_Model
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#include "gps_ephemeris.h" // for Gps_Ephemeris
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#include "gps_iono.h" // for Gps_Iono
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#include "gps_utc_model.h" // for Gps_Utc_Model
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#include "pvt_interface.h" // for PvtInterface
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#include "rtklib.h" // for gtime_t, alm_t
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#include "rtklib_conversions.h" // for alm_to_rtklib
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#include "rtklib_ephemeris.h" // for alm2pos, eph2pos
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#include "rtklib_rtkcmn.h" // for utc2gpst
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#include <armadillo> // for interaction with geofunctions
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#include <boost/interprocess/ipc/message_queue.hpp> // for message_queue
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#include <boost/lexical_cast.hpp> // for bad_lexical_cast
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#include <pmt/pmt.h> // for make_any
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#include <algorithm> // for find, min
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#include <chrono> // for milliseconds
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#include <cmath> // for floor, fmod, log
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#include <csignal> // for signal, SIGINT
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#include <ctime> // for time_t, gmtime, strftime
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#include <exception> // for exception
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#include <iostream> // for operator<<
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#include <limits> // for numeric_limits
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#include <map> // for map
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#include <pthread.h> // for pthread_cancel
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#include <stdexcept> // for invalid_argument
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#if USE_GLOG_AND_GFLAGS
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#include <glog/logging.h>
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@ -197,7 +197,7 @@ void ControlThread::init()
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supl_mns_ = 0;
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supl_lac_ = 0;
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supl_ci_ = 0;
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msqid_ = -1;
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agnss_ref_location_ = Agnss_Ref_Location();
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agnss_ref_time_ = Agnss_Ref_Time();
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@ -273,14 +273,11 @@ void ControlThread::init()
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ControlThread::~ControlThread() // NOLINT(modernize-use-equals-default)
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{
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DLOG(INFO) << "Control Thread destructor called";
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if (msqid_ != -1)
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{
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msgctl(msqid_, IPC_RMID, nullptr);
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}
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boost::interprocess::message_queue::remove(control_message_queue_name_.c_str());
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if (sysv_queue_thread_.joinable())
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if (message_queue_thread_.joinable())
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{
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sysv_queue_thread_.join();
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message_queue_thread_.join();
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}
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if (cmd_interface_thread_.joinable())
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@ -429,7 +426,7 @@ int ControlThread::run()
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{
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keyboard_thread_ = std::thread(&ControlThread::keyboard_listener, this);
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}
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sysv_queue_thread_ = std::thread(&ControlThread::sysv_queue_listener, this);
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message_queue_thread_ = std::thread(&ControlThread::message_queue_listener, this);
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// start the telecommand listener thread
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cmd_interface_.set_pvt(flowgraph_->get_pvt());
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@ -1214,40 +1211,55 @@ void ControlThread::gps_acq_assist_data_collector() const
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}
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void ControlThread::sysv_queue_listener()
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void ControlThread::message_queue_listener()
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{
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typedef struct
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{
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long mtype; // NOLINT(google-runtime-int) required by SysV queue messaging
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double stop_message;
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} stop_msgbuf;
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bool read_queue = true;
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stop_msgbuf msg;
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double received_message = 0.0;
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const int msgrcv_size = sizeof(msg.stop_message);
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const key_t key = 1102;
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if ((msqid_ = msgget(key, 0644 | IPC_CREAT)) == -1)
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try
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{
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std::cerr << "GNSS-SDR cannot create SysV message queues\n";
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read_queue = false;
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}
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// Remove any existing queue with the same name
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boost::interprocess::message_queue::remove(control_message_queue_name_.c_str());
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while (read_queue && !stop_)
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{
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if (msgrcv(msqid_, &msg, msgrcv_size, 1, 0) != -1)
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// Create a new message queue
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auto mq = std::make_unique<boost::interprocess::message_queue>(
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boost::interprocess::create_only, // Create a new queue
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control_message_queue_name_.c_str(), // Queue name
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10, // Maximum number of messages
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sizeof(double) // Maximum message size
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);
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while (read_queue && !stop_)
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{
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received_message = msg.stop_message;
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if ((std::abs(received_message - (-200.0)) < 10 * std::numeric_limits<double>::epsilon()))
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unsigned int priority;
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std::size_t received_size;
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// Receive a message (non-blocking)
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if (mq->try_receive(&received_message, sizeof(received_message), received_size, priority))
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{
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std::cout << "Quit order received, stopping GNSS-SDR !!\n";
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control_queue_->push(pmt::make_any(command_event_make(200, 0)));
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read_queue = false;
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// Validate the size of the received message
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if (received_size == sizeof(double))
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{
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if (std::abs(received_message - (-200.0)) < 10 * std::numeric_limits<double>::epsilon())
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{
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std::cout << "Quit order received, stopping GNSS-SDR !!\n";
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// Push the control command to the control queue
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control_queue_->push(pmt::make_any(command_event_make(200, 0)));
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read_queue = false;
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}
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}
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}
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else
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{
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// No message available, add a small delay to prevent busy-waiting
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std::this_thread::sleep_for(std::chrono::milliseconds(200));
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}
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}
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}
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catch (const boost::interprocess::interprocess_exception &e)
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{
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std::cerr << "Error in message queue listener: " << e.what() << '\n';
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read_queue = false;
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}
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}
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@ -160,7 +160,7 @@ private:
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void telecommand_listener();
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void keyboard_listener();
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void sysv_queue_listener();
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void message_queue_listener();
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void print_help_at_exit() const;
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// default filename for assistance data
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@ -179,6 +179,8 @@ private:
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const std::string gal_almanac_default_xml_filename_ = "./gal_almanac.xml";
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const std::string gps_almanac_default_xml_filename_ = "./gps_almanac.xml";
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const std::string control_message_queue_name_ = "receiver_control_queue";
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const size_t channel_event_type_hash_code_ = typeid(channel_event_sptr).hash_code();
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const size_t command_event_type_hash_code_ = typeid(command_event_sptr).hash_code();
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@ -188,7 +190,7 @@ private:
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std::thread cmd_interface_thread_;
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std::thread keyboard_thread_;
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std::thread sysv_queue_thread_;
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std::thread message_queue_thread_;
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std::thread gps_acq_assist_data_collector_thread_;
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#ifdef ENABLE_FPGA
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@ -210,7 +212,6 @@ private:
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unsigned int processed_control_messages_;
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unsigned int applied_actions_;
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int msqid_;
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bool well_formatted_configuration_;
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bool conf_file_has_section_;
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@ -21,11 +21,13 @@
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#include "control_thread.h"
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#include "file_configuration.h"
|
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#include "gnss_flowgraph.h"
|
||||
#include "gnss_sdr_make_unique.h"
|
||||
#include "gps_acq_assist.h"
|
||||
#include "in_memory_configuration.h"
|
||||
#include <boost/date_time/posix_time/posix_time.hpp>
|
||||
#include <boost/exception/diagnostic_information.hpp>
|
||||
#include <boost/exception/exception.hpp>
|
||||
#include <boost/interprocess/ipc/message_queue.hpp>
|
||||
#include <gtest/gtest.h>
|
||||
#include <cerrno>
|
||||
#include <chrono>
|
||||
@ -35,9 +37,6 @@
|
||||
#include <numeric>
|
||||
#include <random>
|
||||
#include <string>
|
||||
#include <sys/ipc.h>
|
||||
#include <sys/msg.h>
|
||||
#include <sys/types.h>
|
||||
#include <thread>
|
||||
|
||||
#if USE_GLOG_AND_GFLAGS
|
||||
@ -79,13 +78,6 @@ Concurrent_Map<Gps_Acq_Assist> global_gps_acq_assist_map;
|
||||
|
||||
std::vector<double> TTFF_v;
|
||||
|
||||
typedef struct
|
||||
{
|
||||
long mtype; // required by SysV message
|
||||
double ttff;
|
||||
} ttff_msgbuf;
|
||||
|
||||
|
||||
class TtffTest : public ::testing::Test
|
||||
{
|
||||
public:
|
||||
@ -301,45 +293,72 @@ void TtffTest::config_2()
|
||||
|
||||
void receive_msg()
|
||||
{
|
||||
ttff_msgbuf msg;
|
||||
ttff_msgbuf msg_stop;
|
||||
msg_stop.mtype = 1;
|
||||
msg_stop.ttff = -200.0;
|
||||
double ttff_msg = 0.0;
|
||||
int msgrcv_size = sizeof(msg.ttff);
|
||||
int msqid;
|
||||
int msqid_stop = -1;
|
||||
key_t key = 1101;
|
||||
key_t key_stop = 1102;
|
||||
bool leave = false;
|
||||
|
||||
while (!leave)
|
||||
{
|
||||
// wait for the queue to be created
|
||||
while ((msqid = msgget(key, 0644)) == -1)
|
||||
// wait for the queues to be created
|
||||
const std::string queue_name = "gnss_sdr_ttff_message_queue";
|
||||
std::unique_ptr<boost::interprocess::message_queue> d_mq;
|
||||
bool queue_found = false;
|
||||
while (!queue_found)
|
||||
{
|
||||
try
|
||||
{
|
||||
// Attempt to open the message queue
|
||||
d_mq = std::make_unique<boost::interprocess::message_queue>(boost::interprocess::open_only, queue_name.c_str());
|
||||
queue_found = true; // Queue found
|
||||
}
|
||||
catch (const boost::interprocess::interprocess_exception &)
|
||||
{
|
||||
// Queue not found, wait and retry
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(100));
|
||||
}
|
||||
}
|
||||
|
||||
if (msgrcv(msqid, &msg, msgrcv_size, 1, 0) != -1)
|
||||
const std::string queue_name_stop = "receiver_control_queue";
|
||||
std::unique_ptr<boost::interprocess::message_queue> d_mq_stop;
|
||||
bool queue_found2 = false;
|
||||
while (!queue_found2)
|
||||
{
|
||||
ttff_msg = msg.ttff;
|
||||
if ((ttff_msg != 0) && (ttff_msg != -1))
|
||||
try
|
||||
{
|
||||
TTFF_v.push_back(ttff_msg);
|
||||
LOG(INFO) << "Valid Time-To-First-Fix: " << ttff_msg << "[s]";
|
||||
// Stop the receiver
|
||||
while (((msqid_stop = msgget(key_stop, 0644))) == -1)
|
||||
{
|
||||
}
|
||||
double msgsend_size = sizeof(msg_stop.ttff);
|
||||
msgsnd(msqid_stop, &msg_stop, msgsend_size, IPC_NOWAIT);
|
||||
// Attempt to open the message queue
|
||||
d_mq_stop = std::make_unique<boost::interprocess::message_queue>(boost::interprocess::open_only, queue_name_stop.c_str());
|
||||
queue_found2 = true; // Queue found
|
||||
}
|
||||
catch (const boost::interprocess::interprocess_exception &)
|
||||
{
|
||||
// Queue not found, wait and retry
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(100));
|
||||
}
|
||||
}
|
||||
|
||||
if (std::abs(ttff_msg - (-1.0)) < 10 * std::numeric_limits<double>::epsilon())
|
||||
double received_message;
|
||||
unsigned int priority;
|
||||
std::size_t received_size;
|
||||
// Receive a message (non-blocking)
|
||||
if (d_mq->try_receive(&received_message, sizeof(received_message), received_size, priority))
|
||||
{
|
||||
// Validate the size of the received message
|
||||
if (received_size == sizeof(double) && (received_message != 0) && (received_message != -1))
|
||||
{
|
||||
TTFF_v.push_back(received_message);
|
||||
LOG(INFO) << "Valid Time-To-First-Fix: " << received_message << " [s]";
|
||||
// Stop the receiver
|
||||
double stop_message = -200.0;
|
||||
d_mq_stop->send(&stop_message, sizeof(stop_message), 0);
|
||||
}
|
||||
if (received_size == sizeof(double) && std::abs(received_message - (-1.0)) < 10 * std::numeric_limits<double>::epsilon())
|
||||
{
|
||||
leave = true;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
// No message available, add a small delay to prevent busy-waiting
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(200));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@ -715,23 +734,26 @@ int main(int argc, char **argv)
|
||||
}
|
||||
|
||||
// Terminate the queue thread
|
||||
key_t sysv_msg_key;
|
||||
int sysv_msqid;
|
||||
sysv_msg_key = 1101;
|
||||
int msgflg = IPC_CREAT | 0666;
|
||||
if ((sysv_msqid = msgget(sysv_msg_key, msgflg)) == -1)
|
||||
const std::string queue_name = "gnss_sdr_ttff_message_queue";
|
||||
std::unique_ptr<boost::interprocess::message_queue> mq;
|
||||
bool queue_found = false;
|
||||
while (!queue_found)
|
||||
{
|
||||
std::cout << "GNSS-SDR can not create message queues!\n";
|
||||
return 1;
|
||||
try
|
||||
{
|
||||
// Attempt to open the message queue
|
||||
mq = std::make_unique<boost::interprocess::message_queue>(boost::interprocess::open_only, queue_name.c_str());
|
||||
queue_found = true; // Queue found
|
||||
}
|
||||
catch (const boost::interprocess::interprocess_exception &)
|
||||
{
|
||||
// Queue not found, wait and retry
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(100));
|
||||
}
|
||||
}
|
||||
ttff_msgbuf msg;
|
||||
msg.mtype = 1;
|
||||
msg.ttff = -1;
|
||||
int msgsend_size;
|
||||
msgsend_size = sizeof(msg.ttff);
|
||||
msgsnd(sysv_msqid, &msg, msgsend_size, IPC_NOWAIT);
|
||||
receive_msg_thread.join();
|
||||
msgctl(sysv_msqid, IPC_RMID, nullptr);
|
||||
double finish = -1.0;
|
||||
mq->send(&finish, sizeof(finish), 0);
|
||||
boost::interprocess::message_queue::remove(queue_name.c_str());
|
||||
|
||||
#if USE_GLOG_AND_GFLAGS
|
||||
gflags::ShutDownCommandLineFlags();
|
||||
|
||||
@ -26,15 +26,13 @@
|
||||
#include "in_memory_configuration.h"
|
||||
#include <boost/exception/diagnostic_information.hpp>
|
||||
#include <boost/exception_ptr.hpp>
|
||||
#include <boost/interprocess/ipc/message_queue.hpp>
|
||||
#include <boost/lexical_cast.hpp>
|
||||
#include <gtest/gtest.h>
|
||||
#include <pmt/pmt.h>
|
||||
#include <chrono>
|
||||
#include <exception>
|
||||
#include <memory>
|
||||
#include <sys/ipc.h>
|
||||
#include <sys/msg.h>
|
||||
#include <sys/types.h>
|
||||
#include <thread>
|
||||
#include <unistd.h>
|
||||
|
||||
@ -49,35 +47,46 @@ class ControlThreadTest : public ::testing::Test
|
||||
{
|
||||
public:
|
||||
static int stop_receiver();
|
||||
typedef struct
|
||||
{
|
||||
long mtype; // required by SysV message
|
||||
double message;
|
||||
} message_buffer;
|
||||
};
|
||||
|
||||
|
||||
int ControlThreadTest::stop_receiver()
|
||||
{
|
||||
message_buffer msg_stop;
|
||||
msg_stop.mtype = 1;
|
||||
msg_stop.message = -200.0;
|
||||
int msqid_stop = -1;
|
||||
int msgsend_size = sizeof(msg_stop.message);
|
||||
key_t key_stop = 1102;
|
||||
|
||||
// wait for the receiver control queue to be created
|
||||
while (((msqid_stop = msgget(key_stop, 0644))) == -1)
|
||||
const std::string queue_name = "receiver_control_queue";
|
||||
std::unique_ptr<boost::interprocess::message_queue> d_mq;
|
||||
try
|
||||
{
|
||||
bool queue_found = false;
|
||||
|
||||
while (!queue_found)
|
||||
{
|
||||
try
|
||||
{
|
||||
// Attempt to open the message queue
|
||||
d_mq = std::make_unique<boost::interprocess::message_queue>(boost::interprocess::open_only, queue_name.c_str());
|
||||
queue_found = true; // Queue found
|
||||
}
|
||||
catch (const boost::interprocess::interprocess_exception&)
|
||||
{
|
||||
// Queue not found, wait and retry
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(100));
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
double stop_message = -200.0;
|
||||
|
||||
// Wait for a couple of seconds before sending
|
||||
std::this_thread::sleep_for(std::chrono::seconds(2));
|
||||
// Send the double value
|
||||
d_mq->send(&stop_message, sizeof(stop_message), 0); // Priority 0
|
||||
return 0;
|
||||
}
|
||||
catch (const boost::interprocess::interprocess_exception& e)
|
||||
{
|
||||
std::cerr << "Failed to send stop message: " << e.what() << std::endl;
|
||||
return -1;
|
||||
}
|
||||
|
||||
// wait for a couple of seconds
|
||||
std::this_thread::sleep_for(std::chrono::seconds(2));
|
||||
|
||||
// Stop the receiver
|
||||
msgsnd(msqid_stop, &msg_stop, msgsend_size, IPC_NOWAIT);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user