[openrtm-commit:00497] r2244 - tags/RELEASE_1_0_0/OpenRTM-aist/src/lib/rtm
openrtm ＠ openrtm.org
openrtm ＠ openrtm.org
2011年 12月 20日 (火) 14:39:54 JST
Author: n-ando
Date: 2011-12-20 14:39:54 +0900 (Tue, 20 Dec 2011)
New Revision: 2244
Modified:
tags/RELEASE_1_0_0/OpenRTM-aist/src/lib/rtm/RingBuffer.h
Log:
RingBuffer's bug was fixed for RELEASE_1_0_1
Modified: tags/RELEASE_1_0_0/OpenRTM-aist/src/lib/rtm/RingBuffer.h
===================================================================
--- tags/RELEASE_1_0_0/OpenRTM-aist/src/lib/rtm/RingBuffer.h 2011-12-20 05:28:05 UTC (rev 2243)
+++ tags/RELEASE_1_0_0/OpenRTM-aist/src/lib/rtm/RingBuffer.h 2011-12-20 05:39:54 UTC (rev 2244)
@@ -5,7 +5,7 @@
* @date $Date: 2007-12-31 03:08:06 $
* @author Noriaki Ando <n-ando at aist.go.jp>
*
- * Copyright (C) 2006-2008
+ * Copyright (C) 2006-2009
* Noriaki Ando
* Task-intelligence Research Group,
* Intelligent Systems Research Institute,
@@ -340,13 +340,13 @@
// n satisfies n'<= readable elements
// n'<= m_fillcount
// n >= - m_fillcount
- if (n > 0 && n > static_cast<long int>(m_length - m_fillcount) ||
- n < 0 && n < static_cast<long int>(-m_fillcount))
+ Guard guard(m_posmutex);
+ if ((n > 0 && n > static_cast<long int>(m_length - m_fillcount)) ||
+ (n < 0 && n < static_cast<long int>(-m_fillcount)))
{
return ::RTC::BufferStatus::PRECONDITION_NOT_MET;
}
- Guard guard(m_posmutex);
m_wpos = (m_wpos + n + m_length) % m_length;
m_fillcount += n;
m_wcount += n;
@@ -430,8 +430,9 @@
virtual ReturnCode write(const DataType& value,
long int sec = -1, long int nsec = 0)
{
+ {
Guard guard(m_full.mutex);
-
+
if (full())
{
@@ -470,17 +471,23 @@
return ::RTC::BufferStatus::PRECONDITION_NOT_MET;
}
}
-
- bool empty_(empty());
-
+ }
+
put(value);
-
- if (empty_)
- {
- Guard eguard(m_empty.mutex);
- m_empty.cond.signal();
- }
- advanceWptr(1);
+
+ {
+ Guard eguard(m_empty.mutex);
+ if (empty())
+ {
+ // Guard eguard(m_empty.mutex);
+ advanceWptr(1);
+ m_empty.cond.signal();
+ }
+ else
+ {
+ advanceWptr(1);
+ }
+ }
return ::RTC::BufferStatus::BUFFER_OK;
}
@@ -592,13 +599,13 @@
// n < 0 : -n = n'
// n satisfies n'<= m_length - m_fillcount
// n >= m_fillcount - m_length
+ Guard guard(m_posmutex);
if ((n > 0 && n > static_cast<long int>(m_fillcount)) ||
(n < 0 && n < static_cast<long int>(m_fillcount - m_length)))
{
return ::RTC::BufferStatus::PRECONDITION_NOT_MET;
}
- Guard guard(m_posmutex);
m_rpos = (m_rpos + n + m_length) % m_length;
m_fillcount -= n;
return ::RTC::BufferStatus::BUFFER_OK;
@@ -704,6 +711,7 @@
virtual ReturnCode read(DataType& value,
long int sec = -1, long int nsec = 0)
{
+ {
Guard gaurd(m_empty.mutex);
if (empty())
@@ -749,18 +757,23 @@
return ::RTC::BufferStatus::PRECONDITION_NOT_MET;
}
}
+ }
- bool full_(full());
-
get(value);
- advanceRptr();
- if (full_)
- {
- Guard fguard(m_full.mutex);
- m_full.cond.signal();
- }
-
+ {
+ Guard fguard(m_full.mutex);
+ if (full())
+ {
+ // Guard fguard(m_full.mutex);
+ advanceRptr(1);
+ m_full.cond.signal();
+ }
+ else
+ {
+ advanceRptr(1);
+ }
+ }
return ::RTC::BufferStatus::BUFFER_OK;
}
@@ -891,20 +904,120 @@
}
private:
+ /*!
+ * @if jp
+ * @brief 上書きフラグ
+ * @else
+ * @brief Overwrite flag
+ * @endif
+ */
bool m_overwrite;
+
+ /*!
+ * @if jp
+ * @brief 読み戻しフラグ
+ * @else
+ * @brief Readback flag
+ * @endif
+ */
bool m_readback;
+
+ /*!
+ * @if jp
+ * @brief タイムアウト付き書き込みフラグ
+ * @else
+ * @brief Timedwrite flag
+ * @endif
+ */
bool m_timedwrite;
+ /*!
+ * @if jp
+ * @brief タイムアウト付き読み出しフラグ
+ * @else
+ * @brief Timedread flag
+ * @endif
+ */
bool m_timedread;
+
+ /*!
+ * @if jp
+ * @brief 書き込み時タイムアウト
+ * @else
+ * @brief Timeout time for writing
+ * @endif
+ */
coil::TimeValue m_wtimeout;
+
+ /*!
+ * @if jp
+ * @brief 読み出し時タイムアウト
+ * @else
+ * @brief Timeout time of reading
+ * @endif
+ */
coil::TimeValue m_rtimeout;
-
+
+ /*!
+ * @if jp
+ * @brief バッファ長
+ * @else
+ * @brief Buffer length
+ * @endif
+ */
size_t m_length;
+
+ /*!
+ * @if jp
+ * @brief 書き込みポインタ
+ * @else
+ * @brief pointer to write
+ * @endif
+ */
size_t m_wpos;
+
+ /*!
+ * @if jp
+ * @brief 読み出しポインタ
+ * @else
+ * @brief poitner to read
+ * @endif
+ */
size_t m_rpos;
+
+ /*!
+ * @if jp
+ * @brief Fillカウント
+ * @else
+ * @brief Fill count
+ * @endif
+ */
size_t m_fillcount;
+
+ /*!
+ * @if jp
+ * @brief 書き込みカウント
+ * @else
+ * @brief Counter for writing
+ * @endif
+ */
size_t m_wcount;
+
+ /*!
+ * @if jp
+ * @brief バッファ配列
+ * @else
+ * @brief baffer array
+ * @endif
+ */
std::vector<DataType> m_buffer;
+ /*!
+ * @if jp
+ * @brief 条件変数構造体
+ * @else
+ * @brief struct for condition variable
+ * @endif
+ */
struct condition
{
condition() : cond(mutex) {}
@@ -912,8 +1025,31 @@
coil::Mutex mutex;
};
+ /*!
+ * @if jp
+ * @brief 位置変数ミューテックス
+ * @else
+ * @brief mutex for position variable
+ * @endif
+ */
mutable coil::Mutex m_posmutex;
+
+ /*!
+ * @if jp
+ * @brief 空条件変数
+ * @else
+ * @brief empty condition variable
+ * @endif
+ */
condition m_empty;
+
+ /*!
+ * @if jp
+ * @brief 満杯条件変数
+ * @else
+ * @brief full condition variable
+ * @endif
+ */
condition m_full;
};
}; // namespace RTC
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