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 CAPNP_RPC_TWOPARTY_H_
#define CAPNP_RPC_TWOPARTY_H_
#if defined(__GNUC__) && !defined(CAPNP_HEADER_WARNINGS)
#pragma GCC system_header
#endif
#include "rpc.h"
#include "message.h"
#include <kj/async-io.h>
#include <capnp/rpc-twoparty.capnp.h>
namespace capnp {
namespace rpc {
namespace twoparty {
typedef VatId SturdyRefHostId; // For backwards-compatibility with version 0.4.
}
}
typedef VatNetwork<rpc::twoparty::VatId, rpc::twoparty::ProvisionId,
rpc::twoparty::RecipientId, rpc::twoparty::ThirdPartyCapId, rpc::twoparty::JoinResult>
TwoPartyVatNetworkBase;
class TwoPartyVatNetwork: public TwoPartyVatNetworkBase,
private TwoPartyVatNetworkBase::Connection {
// A `VatNetwork` that consists of exactly two parties communicating over an arbitrary byte
// stream. This is used to implement the common case of a client/server network.
//
// See `ez-rpc.h` for a simple interface for setting up two-party clients and servers.
// Use `TwoPartyVatNetwork` only if you need the advanced features.
public:
TwoPartyVatNetwork(kj::AsyncIoStream& stream, rpc::twoparty::Side side,
ReaderOptions receiveOptions = ReaderOptions());
KJ_DISALLOW_COPY(TwoPartyVatNetwork);
kj::Promise<void> onDisconnect() { return disconnectPromise.addBranch(); }
// Returns a promise that resolves when the peer disconnects.
rpc::twoparty::Side getSide() { return side; }
// implements VatNetwork -----------------------------------------------------
kj::Maybe<kj::Own<TwoPartyVatNetworkBase::Connection>> connect(
rpc::twoparty::VatId::Reader ref) override;
kj::Promise<kj::Own<TwoPartyVatNetworkBase::Connection>> accept() override;
private:
class OutgoingMessageImpl;
class IncomingMessageImpl;
kj::AsyncIoStream& stream;
rpc::twoparty::Side side;
MallocMessageBuilder peerVatId;
ReaderOptions receiveOptions;
bool accepted = false;
kj::Maybe<kj::Promise<void>> previousWrite;
// Resolves when the previous write completes. This effectively serves as the write queue.
// Becomes null when shutdown() is called.
kj::Own<kj::PromiseFulfiller<kj::Own<TwoPartyVatNetworkBase::Connection>>> acceptFulfiller;
// Fulfiller for the promise returned by acceptConnectionAsRefHost() on the client side, or the
// second call on the server side. Never fulfilled, because there is only one connection.
kj::ForkedPromise<void> disconnectPromise = nullptr;
class FulfillerDisposer: public kj::Disposer {
// Hack: TwoPartyVatNetwork is both a VatNetwork and a VatNetwork::Connection. When the RPC
// system detects (or initiates) a disconnection, it drops its reference to the Connection.
// When all references have been dropped, then we want disconnectPromise to be fulfilled.
// So we hand out Own<Connection>s with this disposer attached, so that we can detect when
// they are dropped.
public:
mutable kj::Own<kj::PromiseFulfiller<void>> fulfiller;
mutable uint refcount = 0;
void disposeImpl(void* pointer) const override;
};
FulfillerDisposer disconnectFulfiller;
kj::Own<TwoPartyVatNetworkBase::Connection> asConnection();
// Returns a pointer to this with the disposer set to disconnectFulfiller.
// implements Connection -----------------------------------------------------
rpc::twoparty::VatId::Reader getPeerVatId() override;
kj::Own<OutgoingRpcMessage> newOutgoingMessage(uint firstSegmentWordSize) override;
kj::Promise<kj::Maybe<kj::Own<IncomingRpcMessage>>> receiveIncomingMessage() override;
kj::Promise<void> shutdown() override;
};
class TwoPartyServer: private kj::TaskSet::ErrorHandler {
// Convenience class which implements a simple server which accepts connections on a listener
// socket and serices them as two-party connections.
public:
explicit TwoPartyServer(Capability::Client bootstrapInterface);
void accept(kj::Own<kj::AsyncIoStream>&& connection);
// Accepts the connection for servicing.
kj::Promise<void> listen(kj::ConnectionReceiver& listener);
// Listens for connections on the given listener. The returned promise never resolves unless an
// exception is thrown while trying to accept. You may discard the returned promise to cancel
// listening.
private:
Capability::Client bootstrapInterface;
kj::TaskSet tasks;
struct AcceptedConnection;
void taskFailed(kj::Exception&& exception) override;
};
class TwoPartyClient {
// Convenience class which implements a simple client.
public:
explicit TwoPartyClient(kj::AsyncIoStream& connection);
TwoPartyClient(kj::AsyncIoStream& connection, Capability::Client bootstrapInterface,
rpc::twoparty::Side side = rpc::twoparty::Side::CLIENT);
Capability::Client bootstrap();
// Get the server's bootstrap interface.
inline kj::Promise<void> onDisconnect() { return network.onDisconnect(); }
private:
TwoPartyVatNetwork network;
RpcSystem<rpc::twoparty::VatId> rpcSystem;
};
} // namespace capnp
#endif // CAPNP_RPC_TWOPARTY_H_