Merge the IO controller into a single design and use cpp files

src/extension/IOController.cpp

@@ -0,0 +1,27 @@
+/*
+ * MIT License
+ *
+ * Copyright (c) 2015 NUClear Contributors
+ *
+ * This file is part of the NUClear codebase.
+ * See https://github.com/Fastcode/NUClear for further info.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated
+ * documentation files (the "Software"), to deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or substantial portions of the
+ * Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE
+ * WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
+ * OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#ifdef _WIN32
+    #include "IOController_Windows.ipp"
+#else
+    #include "IOController_Posix.ipp"
+#endif  // _WIN32

src/extension/IOController.hpp

@@ -20,13 +20,121 @@
  * OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
-#ifndef NUCLEAR_EXTENSION_IOCONTROLLER
-#define NUCLEAR_EXTENSION_IOCONTROLLER
+#ifndef NUCLEAR_EXTENSION_IO_CONTROLLER_HPP
+#define NUCLEAR_EXTENSION_IO_CONTROLLER_HPP
 
+#include "../Reactor.hpp"
+#include "../dsl/word/IO.hpp"
+#include "../util/platform.hpp"
+
+namespace NUClear {
+namespace extension {
+
+    class IOController : public Reactor {
+        struct Task;
+
+    private:
+        // On windows and posix platforms there are slightly different types that are used
 #ifdef _WIN32
-    #include "IOController_Windows.hpp"
+        using event_t    = long;  // NOLINT(google-runtime-int)
+        using watcher_t  = WSAEVENT;
+        using notifier_t = WSAEVENT;
+        using tasks_t    = std::map<WSAEVENT, Task>;
 #else
-    #include "IOController_Posix.hpp"
-#endif  // _WIN32
+        using event_t   = decltype(pollfd::events);
+        using watcher_t = pollfd;
+        using tasks_t   = std::vector<Task>;
+        struct notifier_t {
+            fd_t recv{-1};     ///< This is the file descriptor that is waited on by poll
+            fd_t send{-1};     ///< This is the file descriptor that is written to to wake up the poll command
+            std::mutex mutex;  ///< This mutex is used to ensure that a write to poll has worked
+        };
+#endif
+
+        /**
+         * A task that is waiting for an IO event.
+         */
+        struct Task {
+            Task() = default;
+            Task(const fd_t& fd, event_t listening_events, std::shared_ptr<threading::Reaction> reaction)
+                : fd(fd), listening_events(listening_events), reaction(std::move(reaction)) {}
+
+            /// The file descriptor we are waiting on
+            fd_t fd{INVALID_SOCKET};
+            /// The events that the task is interested in
+            event_t listening_events{0};
+            /// The events that are waiting to be fired
+            event_t waiting_events{0};
+            /// The events that are currently being processed
+            event_t processing_events{0};
+            /// The reaction that is waiting for this event
+            std::shared_ptr<threading::Reaction> reaction{nullptr};
+
+            /**
+             * Sorts the tasks by their file descriptor.
+             *
+             * The tasks are sorted by file descriptor so that when we rebuild the list of file descriptors to poll we
+             * can assume that if the same file descriptor shows up multiple times it will be next to each other.
+             * This allows the events that are being watched to be or'ed together.
+             *
+             * @param other  the other task to compare to
+             *
+             * @return `true` if this task is less than the other
+             */
+            bool operator<(const Task& other) const {
+                return fd == other.fd ? listening_events < other.listening_events : fd < other.fd;
+            }
+        };
+
+        /**
+         * Rebuilds the list of file descriptors to poll.
+         *
+         * This function is called when the list of file descriptors to poll changes.
+         * It will rebuild the list of file descriptors used by poll.
+         */
+        void rebuild_list();
+
+        /**
+         * Fires the event for the task if it is ready.
+         *
+         * @param task The task to try to fire the event for
+         */
+        void fire_event(Task& task);
+
+        /**
+         * Collects the events that have happened and sets them up to fire.
+         */
+        void process_event(watcher_t& event);
+
+        /**
+         * Bumps the notification pipe to wake up the poll command.
+         *
+         * If the poll command is waiting it will wait forever if something doesn't happen.
+         * When trying to update what to poll or shut down we need to wake it up so it can.
+         */
+        // NOLINTNEXTLINE(readability-make-member-function-const) this changes states
+        void bump();
+
+    public:
+        explicit IOController(std::unique_ptr<NUClear::Environment> environment);
+
+    private:
+        /// The event that is used to wake up the WaitForMultipleEvents call
+        notifier_t notifier;
+
+        /// Whether or not we are shutting down
+        std::atomic<bool> shutdown{false};
+        /// The mutex that protects the tasks list
+        std::mutex tasks_mutex;
+        /// Whether or not the list of file descriptors is dirty compared to tasks
+        bool dirty = true;
+        /// The list of events that are being watched
+        std::vector<watcher_t> watches;
+        /// The list of tasks that are waiting for IO events
+        tasks_t tasks;
+    };
+
+}  // namespace extension
+}  // namespace NUClear
 
-#endif  // NUCLEAR_EXTENSION_IOCONTROLLER
+#endif  // NUCLEAR_EXTENSION_IO_CONTROLLER_HPP