dragonpilot - 基於 openpilot 的開源駕駛輔助系統
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// Copyright (c) 2013-2014 Sandstorm Development Group, Inc. and contributors
// Licensed under the MIT License:
//
// 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.
#ifndef KJ_ASYNC_IO_H_
#define KJ_ASYNC_IO_H_
#if defined(__GNUC__) && !KJ_HEADER_WARNINGS
#pragma GCC system_header
#endif
#include "async.h"
#include "function.h"
#include "thread.h"
#include "time.h"
struct sockaddr;
namespace kj {
#if _WIN32
class Win32EventPort;
#else
class UnixEventPort;
#endif
class NetworkAddress;
class AsyncOutputStream;
// =======================================================================================
// Streaming I/O
class AsyncInputStream {
// Asynchronous equivalent of InputStream (from io.h).
public:
virtual Promise<size_t> read(void* buffer, size_t minBytes, size_t maxBytes);
virtual Promise<size_t> tryRead(void* buffer, size_t minBytes, size_t maxBytes) = 0;
Promise<void> read(void* buffer, size_t bytes);
virtual Maybe<uint64_t> tryGetLength();
// Get the remaining number of bytes that will be produced by this stream, if known.
//
// This is used e.g. to fill in the Content-Length header of an HTTP message. If unknown, the
// HTTP implementation may need to fall back to Transfer-Encoding: chunked.
//
// The default implementation always returns null.
virtual Promise<uint64_t> pumpTo(
AsyncOutputStream& output, uint64_t amount = kj::maxValue);
// Read `amount` bytes from this stream (or to EOF) and write them to `output`, returning the
// total bytes actually pumped (which is only less than `amount` if EOF was reached).
//
// Override this if your stream type knows how to pump itself to certain kinds of output
// streams more efficiently than via the naive approach. You can use
// kj::dynamicDowncastIfAvailable() to test for stream types you recognize, and if none match,
// delegate to the default implementation.
//
// The default implementation first tries calling output.tryPumpFrom(), but if that fails, it
// performs a naive pump by allocating a buffer and reading to it / writing from it in a loop.
Promise<Array<byte>> readAllBytes();
Promise<String> readAllText();
// Read until EOF and return as one big byte array or string.
};
class AsyncOutputStream {
// Asynchronous equivalent of OutputStream (from io.h).
public:
virtual Promise<void> write(const void* buffer, size_t size) KJ_WARN_UNUSED_RESULT = 0;
virtual Promise<void> write(ArrayPtr<const ArrayPtr<const byte>> pieces)
KJ_WARN_UNUSED_RESULT = 0;
virtual Maybe<Promise<uint64_t>> tryPumpFrom(
AsyncInputStream& input, uint64_t amount = kj::maxValue);
// Implements double-dispatch for AsyncInputStream::pumpTo().
//
// This method should only be called from within an implementation of pumpTo().
//
// This method examines the type of `input` to find optimized ways to pump data from it to this
// output stream. If it finds one, it performs the pump. Otherwise, it returns null.
//
// The default implementation always returns null.
};
class AsyncIoStream: public AsyncInputStream, public AsyncOutputStream {
// A combination input and output stream.
public:
virtual void shutdownWrite() = 0;
// Cleanly shut down just the write end of the stream, while keeping the read end open.
virtual void abortRead() {}
// Similar to shutdownWrite, but this will shut down the read end of the stream, and should only
// be called when an error has occurred.
virtual void getsockopt(int level, int option, void* value, uint* length);
virtual void setsockopt(int level, int option, const void* value, uint length);
// Corresponds to getsockopt() and setsockopt() syscalls. Will throw an "unimplemented" exception
// if the stream is not a socket or the option is not appropriate for the socket type. The
// default implementations always throw "unimplemented".
virtual void getsockname(struct sockaddr* addr, uint* length);
virtual void getpeername(struct sockaddr* addr, uint* length);
// Corresponds to getsockname() and getpeername() syscalls. Will throw an "unimplemented"
// exception if the stream is not a socket. The default implementations always throw
// "unimplemented".
//
// Note that we don't provide methods that return NetworkAddress because it usually wouldn't
// be useful. You can't connect() to or listen() on these addresses, obviously, because they are
// ephemeral addresses for a single connection.
};
struct OneWayPipe {
// A data pipe with an input end and an output end. (Typically backed by pipe() system call.)
Own<AsyncInputStream> in;
Own<AsyncOutputStream> out;
};
struct TwoWayPipe {
// A data pipe that supports sending in both directions. Each end's output sends data to the
// other end's input. (Typically backed by socketpair() system call.)
Own<AsyncIoStream> ends[2];
};
class ConnectionReceiver {
// Represents a server socket listening on a port.
public:
virtual Promise<Own<AsyncIoStream>> accept() = 0;
// Accept the next incoming connection.
virtual uint getPort() = 0;
// Gets the port number, if applicable (i.e. if listening on IP). This is useful if you didn't
// specify a port when constructing the NetworkAddress -- one will have been assigned
// automatically.
virtual void getsockopt(int level, int option, void* value, uint* length);
virtual void setsockopt(int level, int option, const void* value, uint length);
// Same as the methods of AsyncIoStream.
};
// =======================================================================================
// Datagram I/O
class AncillaryMessage {
// Represents an ancillary message (aka control message) received using the recvmsg() system
// call (or equivalent). Most apps will not use this.
public:
inline AncillaryMessage(int level, int type, ArrayPtr<const byte> data);
AncillaryMessage() = default;
inline int getLevel() const;
// Originating protocol / socket level.
inline int getType() const;
// Protocol-specific message type.
template <typename T>
inline Maybe<const T&> as();
// Interpret the ancillary message as the given struct type. Most ancillary messages are some
// sort of struct, so this is a convenient way to access it. Returns nullptr if the message
// is smaller than the struct -- this can happen if the message was truncated due to
// insufficient ancillary buffer space.
template <typename T>
inline ArrayPtr<const T> asArray();
// Interpret the ancillary message as an array of items. If the message size does not evenly
// divide into elements of type T, the remainder is discarded -- this can happen if the message
// was truncated due to insufficient ancillary buffer space.
private:
int level;
int type;
ArrayPtr<const byte> data;
// Message data. In most cases you should use `as()` or `asArray()`.
};
class DatagramReceiver {
// Class encapsulating the recvmsg() system call. You must specify the DatagramReceiver's
// capacity in advance; if a received packet is larger than the capacity, it will be truncated.
public:
virtual Promise<void> receive() = 0;
// Receive a new message, overwriting this object's content.
//
// receive() may reuse the same buffers for content and ancillary data with each call.
template <typename T>
struct MaybeTruncated {
T value;
bool isTruncated;
// True if the Receiver's capacity was insufficient to receive the value and therefore the
// value is truncated.
};
virtual MaybeTruncated<ArrayPtr<const byte>> getContent() = 0;
// Get the content of the datagram.
virtual MaybeTruncated<ArrayPtr<const AncillaryMessage>> getAncillary() = 0;
// Ancilarry messages received with the datagram. See the recvmsg() system call and the cmsghdr
// struct. Most apps don't need this.
//
// If the returned value is truncated, then the last message in the array may itself be
// truncated, meaning its as<T>() method will return nullptr or its asArray<T>() method will
// return fewer elements than expected. Truncation can also mean that additional messages were
// available but discarded.
virtual NetworkAddress& getSource() = 0;
// Get the datagram sender's address.
struct Capacity {
size_t content = 8192;
// How much space to allocate for the datagram content. If a datagram is received that is
// larger than this, it will be truncated, with no way to recover the tail.
size_t ancillary = 0;
// How much space to allocate for ancillary messages. As with content, if the ancillary data
// is larger than this, it will be truncated.
};
};
class DatagramPort {
public:
virtual Promise<size_t> send(const void* buffer, size_t size, NetworkAddress& destination) = 0;
virtual Promise<size_t> send(ArrayPtr<const ArrayPtr<const byte>> pieces,
NetworkAddress& destination) = 0;
virtual Own<DatagramReceiver> makeReceiver(
DatagramReceiver::Capacity capacity = DatagramReceiver::Capacity()) = 0;
// Create a new `Receiver` that can be used to receive datagrams. `capacity` specifies how much
// space to allocate for the received message. The `DatagramPort` must outlive the `Receiver`.
virtual uint getPort() = 0;
// Gets the port number, if applicable (i.e. if listening on IP). This is useful if you didn't
// specify a port when constructing the NetworkAddress -- one will have been assigned
// automatically.
virtual void getsockopt(int level, int option, void* value, uint* length);
virtual void setsockopt(int level, int option, const void* value, uint length);
// Same as the methods of AsyncIoStream.
};
// =======================================================================================
// Networks
class NetworkAddress {
// Represents a remote address to which the application can connect.
public:
virtual Promise<Own<AsyncIoStream>> connect() = 0;
// Make a new connection to this address.
//
// The address must not be a wildcard ("*"). If it is an IP address, it must have a port number.
virtual Own<ConnectionReceiver> listen() = 0;
// Listen for incoming connections on this address.
//
// The address must be local.
virtual Own<DatagramPort> bindDatagramPort();
// Open this address as a datagram (e.g. UDP) port.
//
// The address must be local.
virtual Own<NetworkAddress> clone() = 0;
// Returns an equivalent copy of this NetworkAddress.
virtual String toString() = 0;
// Produce a human-readable string which hopefully can be passed to Network::parseAddress()
// to reproduce this address, although whether or not that works of course depends on the Network
// implementation. This should be called only to display the address to human users, who will
// hopefully know what they are able to do with it.
};
class Network {
// Factory for NetworkAddress instances, representing the network services offered by the
// operating system.
//
// This interface typically represents broad authority, and well-designed code should limit its
// use to high-level startup code and user interaction. Low-level APIs should accept
// NetworkAddress instances directly and work from there, if at all possible.
public:
virtual Promise<Own<NetworkAddress>> parseAddress(StringPtr addr, uint portHint = 0) = 0;
// Construct a network address from a user-provided string. The format of the address
// strings is not specified at the API level, and application code should make no assumptions
// about them. These strings should always be provided by humans, and said humans will know
// what format to use in their particular context.
//
// `portHint`, if provided, specifies the "standard" IP port number for the application-level
// service in play. If the address turns out to be an IP address (v4 or v6), and it lacks a
// port number, this port will be used. If `addr` lacks a port number *and* `portHint` is
// omitted, then the returned address will only support listen() and bindDatagramPort()
// (not connect()), and an unused port will be chosen each time one of those methods is called.
virtual Own<NetworkAddress> getSockaddr(const void* sockaddr, uint len) = 0;
// Construct a network address from a legacy struct sockaddr.
};
// =======================================================================================
// I/O Provider
class AsyncIoProvider {
// Class which constructs asynchronous wrappers around the operating system's I/O facilities.
//
// Generally, the implementation of this interface must integrate closely with a particular
// `EventLoop` implementation. Typically, the EventLoop implementation itself will provide
// an AsyncIoProvider.
public:
virtual OneWayPipe newOneWayPipe() = 0;
// Creates an input/output stream pair representing the ends of a one-way pipe (e.g. created with
// the pipe(2) system call).
virtual TwoWayPipe newTwoWayPipe() = 0;
// Creates two AsyncIoStreams representing the two ends of a two-way pipe (e.g. created with
// socketpair(2) system call). Data written to one end can be read from the other.
virtual Network& getNetwork() = 0;
// Creates a new `Network` instance representing the networks exposed by the operating system.
//
// DO NOT CALL THIS except at the highest levels of your code, ideally in the main() function. If
// you call this from low-level code, then you are preventing higher-level code from injecting an
// alternative implementation. Instead, if your code needs to use network functionality, it
// should ask for a `Network` as a constructor or method parameter, so that higher-level code can
// chose what implementation to use. The system network is essentially a singleton. See:
// http://www.object-oriented-security.org/lets-argue/singletons
//
// Code that uses the system network should not make any assumptions about what kinds of
// addresses it will parse, as this could differ across platforms. String addresses should come
// strictly from the user, who will know how to write them correctly for their system.
//
// With that said, KJ currently supports the following string address formats:
// - IPv4: "1.2.3.4", "1.2.3.4:80"
// - IPv6: "1234:5678::abcd", "[1234:5678::abcd]:80"
// - Local IP wildcard (covers both v4 and v6): "*", "*:80"
// - Symbolic names: "example.com", "example.com:80", "example.com:http", "1.2.3.4:http"
// - Unix domain: "unix:/path/to/socket"
struct PipeThread {
// A combination of a thread and a two-way pipe that communicates with that thread.
//
// The fields are intentionally ordered so that the pipe will be destroyed (and therefore
// disconnected) before the thread is destroyed (and therefore joined). Thus if the thread
// arranges to exit when it detects disconnect, destruction should be clean.
Own<Thread> thread;
Own<AsyncIoStream> pipe;
};
virtual PipeThread newPipeThread(
Function<void(AsyncIoProvider&, AsyncIoStream&, WaitScope&)> startFunc) = 0;
// Create a new thread and set up a two-way pipe (socketpair) which can be used to communicate
// with it. One end of the pipe is passed to the thread's start function and the other end of
// the pipe is returned. The new thread also gets its own `AsyncIoProvider` instance and will
// already have an active `EventLoop` when `startFunc` is called.
//
// TODO(someday): I'm not entirely comfortable with this interface. It seems to be doing too
// much at once but I'm not sure how to cleanly break it down.
virtual Timer& getTimer() = 0;
// Returns a `Timer` based on real time. Time does not pass while event handlers are running --
// it only updates when the event loop polls for system events. This means that calling `now()`
// on this timer does not require a system call.
//
// This timer is not affected by changes to the system date. It is unspecified whether the timer
// continues to count while the system is suspended.
};
class LowLevelAsyncIoProvider {
// Similar to `AsyncIoProvider`, but represents a lower-level interface that may differ on
// different operating systems. You should prefer to use `AsyncIoProvider` over this interface
// whenever possible, as `AsyncIoProvider` is portable and friendlier to dependency-injection.
//
// On Unix, this interface can be used to import native file descriptors into the async framework.
// Different implementations of this interface might work on top of different event handling
// primitives, such as poll vs. epoll vs. kqueue vs. some higher-level event library.
//
// On Windows, this interface can be used to import native HANDLEs into the async framework.
// Different implementations of this interface might work on top of different event handling
// primitives, such as I/O completion ports vs. completion routines.
//
// TODO(port): Actually implement Windows support.
public:
// ---------------------------------------------------------------------------
// Unix-specific stuff
enum Flags {
// Flags controlling how to wrap a file descriptor.
TAKE_OWNERSHIP = 1 << 0,
// The returned object should own the file descriptor, automatically closing it when destroyed.
// The close-on-exec flag will be set on the descriptor if it is not already.
//
// If this flag is not used, then the file descriptor is not automatically closed and the
// close-on-exec flag is not modified.
#if !_WIN32
ALREADY_CLOEXEC = 1 << 1,
// Indicates that the close-on-exec flag is known already to be set, so need not be set again.
// Only relevant when combined with TAKE_OWNERSHIP.
//
// On Linux, all system calls which yield new file descriptors have flags or variants which
// set the close-on-exec flag immediately. Unfortunately, other OS's do not.
ALREADY_NONBLOCK = 1 << 2
// Indicates that the file descriptor is known already to be in non-blocking mode, so the flag
// need not be set again. Otherwise, all wrap*Fd() methods will enable non-blocking mode
// automatically.
//
// On Linux, all system calls which yield new file descriptors have flags or variants which
// enable non-blocking mode immediately. Unfortunately, other OS's do not.
#endif
};
#if _WIN32
typedef uintptr_t Fd;
// On Windows, the `fd` parameter to each of these methods must be a SOCKET, and must have the
// flag WSA_FLAG_OVERLAPPED (which socket() uses by default, but WSASocket() wants you to specify
// explicitly).
#else
typedef int Fd;
// On Unix, any arbitrary file descriptor is supported.
#endif
virtual Own<AsyncInputStream> wrapInputFd(Fd fd, uint flags = 0) = 0;
// Create an AsyncInputStream wrapping a file descriptor.
//
// `flags` is a bitwise-OR of the values of the `Flags` enum.
virtual Own<AsyncOutputStream> wrapOutputFd(Fd fd, uint flags = 0) = 0;
// Create an AsyncOutputStream wrapping a file descriptor.
//
// `flags` is a bitwise-OR of the values of the `Flags` enum.
virtual Own<AsyncIoStream> wrapSocketFd(Fd fd, uint flags = 0) = 0;
// Create an AsyncIoStream wrapping a socket file descriptor.
//
// `flags` is a bitwise-OR of the values of the `Flags` enum.
virtual Promise<Own<AsyncIoStream>> wrapConnectingSocketFd(
Fd fd, const struct sockaddr* addr, uint addrlen, uint flags = 0) = 0;
// Create an AsyncIoStream wrapping a socket and initiate a connection to the given address.
// The returned promise does not resolve until connection has completed.
//
// `flags` is a bitwise-OR of the values of the `Flags` enum.
virtual Own<ConnectionReceiver> wrapListenSocketFd(Fd fd, uint flags = 0) = 0;
// Create an AsyncIoStream wrapping a listen socket file descriptor. This socket should already
// have had `bind()` and `listen()` called on it, so it's ready for `accept()`.
//
// `flags` is a bitwise-OR of the values of the `Flags` enum.
virtual Own<DatagramPort> wrapDatagramSocketFd(Fd fd, uint flags = 0);
virtual Timer& getTimer() = 0;
// Returns a `Timer` based on real time. Time does not pass while event handlers are running --
// it only updates when the event loop polls for system events. This means that calling `now()`
// on this timer does not require a system call.
//
// This timer is not affected by changes to the system date. It is unspecified whether the timer
// continues to count while the system is suspended.
};
Own<AsyncIoProvider> newAsyncIoProvider(LowLevelAsyncIoProvider& lowLevel);
// Make a new AsyncIoProvider wrapping a `LowLevelAsyncIoProvider`.
struct AsyncIoContext {
Own<LowLevelAsyncIoProvider> lowLevelProvider;
Own<AsyncIoProvider> provider;
WaitScope& waitScope;
#if _WIN32
Win32EventPort& win32EventPort;
#else
UnixEventPort& unixEventPort;
// TEMPORARY: Direct access to underlying UnixEventPort, mainly for waiting on signals. This
// field will go away at some point when we have a chance to improve these interfaces.
#endif
};
AsyncIoContext setupAsyncIo();
// Convenience method which sets up the current thread with everything it needs to do async I/O.
// The returned objects contain an `EventLoop` which is wrapping an appropriate `EventPort` for
// doing I/O on the host system, so everything is ready for the thread to start making async calls
// and waiting on promises.
//
// You would typically call this in your main() loop or in the start function of a thread.
// Example:
//
// int main() {
// auto ioContext = kj::setupAsyncIo();
//
// // Now we can call an async function.
// Promise<String> textPromise = getHttp(*ioContext.provider, "http://example.com");
//
// // And we can wait for the promise to complete. Note that you can only use `wait()`
// // from the top level, not from inside a promise callback.
// String text = textPromise.wait(ioContext.waitScope);
// print(text);
// return 0;
// }
//
// WARNING: An AsyncIoContext can only be used in the thread and process that created it. In
// particular, note that after a fork(), an AsyncIoContext created in the parent process will
// not work correctly in the child, even if the parent ceases to use its copy. In particular
// note that this means that server processes which daemonize themselves at startup must wait
// until after daemonization to create an AsyncIoContext.
// =======================================================================================
// inline implementation details
inline AncillaryMessage::AncillaryMessage(
int level, int type, ArrayPtr<const byte> data)
: level(level), type(type), data(data) {}
inline int AncillaryMessage::getLevel() const { return level; }
inline int AncillaryMessage::getType() const { return type; }
template <typename T>
inline Maybe<const T&> AncillaryMessage::as() {
if (data.size() >= sizeof(T)) {
return *reinterpret_cast<const T*>(data.begin());
} else {
return nullptr;
}
}
template <typename T>
inline ArrayPtr<const T> AncillaryMessage::asArray() {
return arrayPtr(reinterpret_cast<const T*>(data.begin()), data.size() / sizeof(T));
}
} // namespace kj
#endif // KJ_ASYNC_IO_H_