fix #36

toppers · Jan 14, 2025 · e2ada4d · e2ada4d
1 parent e165086
commit e2ada4d
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Showing 5 changed files with 61 additions and 0 deletions.
diff --git a/src/hako/data/hako_base_data.hpp b/src/hako/data/hako_base_data.hpp
@@ -71,6 +71,7 @@ namespace hako::data {
         int32_t             channel_num;
         bool                is_dirty[HAKO_PDU_CHANNEL_MAX];
         bool                is_rbusy[HAKO_DATA_MAX_ASSET_NUM][HAKO_PDU_CHANNEL_MAX];
+        bool                is_rbusy_for_external[HAKO_PDU_CHANNEL_MAX];
         bool                is_wbusy[HAKO_PDU_CHANNEL_MAX];
         HakoPduChannelType  channel[HAKO_PDU_CHANNEL_MAX];
 

diff --git a/src/hako/data/hako_pdu_data.hpp b/src/hako/data/hako_pdu_data.hpp
@@ -120,6 +120,9 @@ namespace hako::data {
         bool is_pdu_rbusy(HakoPduChannelIdType channel_id)
         {
             bool ret = false;
+            if (this->pdu_meta_data_->is_rbusy_for_external[channel_id]) {
+                return true;
+            }
             for (int i = 0; i < HAKO_DATA_MAX_ASSET_NUM; i++) {
                 if (this->pdu_meta_data_->is_rbusy[i][channel_id]) {
                     ret = true;
@@ -136,6 +139,10 @@ namespace hako::data {
         {
             this->pdu_meta_data_->is_rbusy[asset_id][channel_id] = busy_status;
         }
+        void set_pdu_rbusy_status_for_external(HakoPduChannelIdType channel_id, bool busy_status)
+        {
+            this->pdu_meta_data_->is_rbusy_for_external[channel_id] = busy_status;
+        }
         /*
          * writers: only one!
          */
@@ -198,6 +205,35 @@ namespace hako::data {
             this->set_pdu_rbusy_status(asset_id, channel_id, false);
             return true;
         }
+        bool read_pdu_for_external(HakoPduChannelIdType channel_id, char *pdu_data, size_t len)
+        {
+            if (channel_id >= HAKO_PDU_CHANNEL_MAX) {
+                HAKO_LOG_ERROR("channel_id >= MAX(%d) channel_id = %d len = %d", HAKO_PDU_CHANNEL_MAX, channel_id, len);
+                return false;
+            }
+            else if (len > this->pdu_meta_data_->channel[channel_id].size) {
+                HAKO_LOG_ERROR("len > channel_size(%d) channel_id = %d len = %d", this->pdu_meta_data_->channel[channel_id].size, channel_id, len);
+                return false;
+            }
+            else if (this->pdu_ == nullptr) {
+                this->load();
+            }
+            //READER wait until WRITER has done with rbusy flag=false 
+            //in order to avoid deadlock situation for waiting each other...
+            while (true) {
+                this->set_pdu_rbusy_status_for_external(channel_id, true);
+                if (this->is_pdu_wbusy(channel_id)) {
+                    this->set_pdu_rbusy_status_for_external(channel_id, false);
+                    //usleep(1000); /* 1msec sleep */
+                    continue;
+                }
+                break;
+            }
+            int off = this->pdu_meta_data_->channel[channel_id].offset;
+            memcpy(pdu_data, &this->pdu_[off], len);
+            this->set_pdu_rbusy_status_for_external(channel_id, false);
+            return true;
+        }
         bool read_pdu_nolock(HakoPduChannelIdType channel_id, char *pdu_data, size_t len)
         {
             if (channel_id >= HAKO_PDU_CHANNEL_MAX) {

diff --git a/src/hako/hako_asset_impl.cpp b/src/hako/hako_asset_impl.cpp
@@ -167,6 +167,16 @@ bool hako::HakoAssetControllerImpl::write_pdu(const std::string& asset_name, con
         return this->master_data_->get_pdu_data()->write_pdu(channel_id, pdu_data, len);
     }
 }
+bool hako::HakoAssetControllerImpl::write_pdu_for_external(const std::string& robo_name, HakoPduChannelIdType channel_id, const char *pdu_data, size_t len)
+{
+    HakoPduChannelIdType real_id = this->master_data_->get_pdu_data()->get_pdu_channel(robo_name, channel_id);
+    if (real_id >= 0) {
+        return this->master_data_->get_pdu_data()->write_pdu(real_id, pdu_data, len);
+    }
+    else {
+        return this->master_data_->get_pdu_data()->write_pdu(channel_id, pdu_data, len);
+    }
+}
 
 bool hako::HakoAssetControllerImpl::read_pdu(const std::string& asset_name, const std::string& robo_name, HakoPduChannelIdType channel_id, char *pdu_data, size_t len)
 {
@@ -183,6 +193,16 @@ bool hako::HakoAssetControllerImpl::read_pdu(const std::string& asset_name, cons
         return this->master_data_->get_pdu_data()->read_pdu(asset->id, channel_id, pdu_data, len);
     }
 }
+bool hako::HakoAssetControllerImpl::read_pdu_for_external(const std::string& robo_name, HakoPduChannelIdType channel_id, char *pdu_data, size_t len)
+{
+    HakoPduChannelIdType real_id = this->master_data_->get_pdu_data()->get_pdu_channel(robo_name, channel_id);
+    if (real_id >= 0) {
+        return this->master_data_->get_pdu_data()->read_pdu_for_external(real_id, pdu_data, len);
+    }
+    else {
+        return this->master_data_->get_pdu_data()->read_pdu_for_external(channel_id, pdu_data, len);
+    }
+}
 bool hako::HakoAssetControllerImpl::write_pdu_nolock(const std::string& robo_name, HakoPduChannelIdType channel_id, const char *pdu_data, size_t len)
 {
     HakoPduChannelIdType real_id = this->master_data_->get_pdu_data()->get_pdu_channel(robo_name, channel_id);

diff --git a/src/hako/hako_asset_impl.hpp b/src/hako/hako_asset_impl.hpp
@@ -41,7 +41,9 @@ namespace hako {
         HakoPduChannelIdType get_pdu_channel(const std::string& robo_name, HakoPduChannelIdType channel_id);
         bool is_pdu_dirty(const std::string& asset_name, const std::string& robo_name, HakoPduChannelIdType channel_id);
         bool write_pdu(const std::string& asset_name, const std::string& robo_name, HakoPduChannelIdType channel_id, const char *pdu_data, size_t len);
+        bool write_pdu_for_external(const std::string& robo_name, HakoPduChannelIdType channel_id, const char *pdu_data, size_t len);
         bool read_pdu(const std::string& asset_name, const std::string& robo_name, HakoPduChannelIdType channel_id, char *pdu_data, size_t len);
+        bool read_pdu_for_external(const std::string& robo_name, HakoPduChannelIdType channel_id, char *pdu_data, size_t len);
         void notify_read_pdu_done(const std::string& asset_name);
         void notify_write_pdu_done(const std::string& asset_name);
         bool is_pdu_sync_mode(const std::string& asset_name);

diff --git a/src/include/hako_asset.hpp b/src/include/hako_asset.hpp
@@ -36,7 +36,9 @@ namespace hako {
         virtual HakoPduChannelIdType get_pdu_channel(const std::string& robo_name, HakoPduChannelIdType channel_id) = 0;
         virtual bool is_pdu_dirty(const std::string& asset_name, const std::string& robo_name, HakoPduChannelIdType channel_id) = 0;
         virtual bool write_pdu(const std::string& asset_name, const std::string& robo_name, HakoPduChannelIdType channel_id, const char *pdu_data, size_t len) = 0;
+        virtual bool write_pdu_for_external(const std::string& robo_name, HakoPduChannelIdType channel_id, const char *pdu_data, size_t len) = 0;
         virtual bool read_pdu(const std::string& asset_name, const std::string& robo_name, HakoPduChannelIdType channel_id, char *pdu_data, size_t len) = 0;
+        virtual bool read_pdu_for_external(const std::string& robo_name, HakoPduChannelIdType channel_id, char *pdu_data, size_t len) = 0;
         virtual void notify_read_pdu_done(const std::string& asset_name) = 0;
         virtual void notify_write_pdu_done(const std::string& asset_name) = 0;
         virtual bool is_pdu_sync_mode(const std::string& asset_name) = 0;