iceoryx_roudi_memory_manager.hpp

// Copyright (c) 2020 - 2021 by Robert Bosch GmbH. All rights reserved.
// Copyright (c) 2021 by Apex.AI Inc. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// SPDX-License-Identifier: Apache-2.0
#ifndef IOX_POSH_ROUDI_MEMORY_ICEORYX_ROUDI_MEMORY_MANAGER_HPP
#define IOX_POSH_ROUDI_MEMORY_ICEORYX_ROUDI_MEMORY_MANAGER_HPP
 
#include "iceoryx_posh/roudi/memory/roudi_memory_interface.hpp"
 
#include "iceoryx_hoofs/posix_wrapper/file_lock.hpp"
#include "iceoryx_posh/internal/log/posh_logging.hpp"
#include "iceoryx_posh/roudi/memory/default_roudi_memory.hpp"
#include "iceoryx_posh/roudi/memory/roudi_memory_manager.hpp"
#include "iceoryx_posh/roudi/port_pool.hpp"
 
namespace iox
{
namespace roudi
{
class IceOryxRouDiMemoryManager : public RouDiMemoryInterface
{
  public:
    IceOryxRouDiMemoryManager(const RouDiConfig_t& roudiConfig) noexcept;
    virtual ~IceOryxRouDiMemoryManager() noexcept = default;
 
    IceOryxRouDiMemoryManager(IceOryxRouDiMemoryManager&&) = delete;
    IceOryxRouDiMemoryManager& operator=(IceOryxRouDiMemoryManager&&) = delete;
 
    IceOryxRouDiMemoryManager(const IceOryxRouDiMemoryManager&) = delete;
    IceOryxRouDiMemoryManager& operator=(const IceOryxRouDiMemoryManager&) = delete;

    cxx::expected<RouDiMemoryManagerError> createAndAnnounceMemory() noexcept override;

    cxx::expected<RouDiMemoryManagerError> destroyMemory() noexcept override;
 
    const PosixShmMemoryProvider* mgmtMemoryProvider() const noexcept override;
    cxx::optional<PortPool*> portPool() noexcept override;
    cxx::optional<mepoo::MemoryManager*> introspectionMemoryManager() const noexcept override;
    cxx::optional<mepoo::SegmentManager<>*> segmentManager() const noexcept override;
 
  private:
    // in order to prevent a second RouDi to cleanup the memory resources of a running RouDi, this resources are
    // protected by a file lock
    posix::FileLock fileLock =
        std::move(posix::FileLock::create(ROUDI_LOCK_NAME)
                      .or_else([](auto& error) {
                          if (error == posix::FileLockError::LOCKED_BY_OTHER_PROCESS)
                          {
                              LogFatal() << "Could not acquire lock, is RouDi still running?";
                              errorHandler(Error::kICEORYX_ROUDI_MEMORY_MANAGER__ROUDI_STILL_RUNNING,
                                           nullptr,
                                           iox::ErrorLevel::FATAL);
                          }
                          else
                          {
                              LogFatal() << "Error occurred while acquiring file lock named " << ROUDI_LOCK_NAME;
                              errorHandler(Error::kICEORYX_ROUDI_MEMORY_MANAGER__COULD_NOT_ACQUIRE_FILE_LOCK,
                                           nullptr,
                                           iox::ErrorLevel::FATAL);
                          }
                      })
                      .value());
 
    PortPoolMemoryBlock m_portPoolBlock;
    cxx::optional<PortPool> m_portPool;
    DefaultRouDiMemory m_defaultMemory;
    RouDiMemoryManager m_memoryManager;
};
} // namespace roudi
} // namespace iox
 
#endif // IOX_POSH_ROUDI_MEMORY_ICEORYX_ROUDI_MEMORY_MANAGER_HPP