#include <router.h>

Inheritance diagram for carla::multigpu::Router:

Public Types
using	request_observer_type = std::function< void(const Primary *, MultiGPUCommand, const carla::BufferView &)>

Public Member Functions
void	AsyncRun (size_t worker_threads)

PrimaryCommands &	GetCommander ()

boost::asio::ip::tcp::endpoint	GetLocalEndpoint () const

bool	HasClientsConnected () const
	Any thread: reads a count kept next to the session list, which is itself only touched under the router's mutex.

bool	IsAnySecondaryLoading ()
	Whether a connected secondary sent LOAD_MAP has not yet reported the episode of its latest LOAD_MAP ready (a disconnect also clears it).

bool	IsConnected (const std::weak_ptr< Primary > &server)
	Whether server is still one of the connected secondary sessions.

	Router (uint16_t port)

	Router (void)

void	SetCallbacks ()

void	SetNewConnectionCallback (std::function< void(void)>)

void	Stop ()

void	StopWaitingForSecondaryLoads ()

std::vector< std::weak_ptr< Primary > >	TakeNewSessions ()
	Sessions connected since the previous call, oldest first.

void	Write (MultiGPUCommand id, Buffer &&buffer)

load_map_id_type	WriteLoadMap (std::string_view map, const LoadMapExtras &extras={})
	Broadcasts LOAD_MAP tagged with a new load id; each connected secondary counts as loading until it reports that load's episode ready.

std::future< SessionInfo >	WriteToNext (MultiGPUCommand id, Buffer &&buffer)

std::future< SessionInfo >	WriteToOne (std::weak_ptr< Primary > server, MultiGPUCommand id, Buffer &&buffer)

	~Router ()

Private Member Functions
void	ClearSessions ()

void	ConnectSession (std::shared_ptr< Primary > session)

void	DisconnectSession (std::shared_ptr< Primary > session)

void	HandleResponse (std::shared_ptr< Primary > session, Buffer buffer)
	Re-arms the new-connection resync if buffer is the secondary's episode-ready marker (checked first, so it can never be misdelivered to a pending promise on the same session); otherwise resolves the pending promise for session with buffer, or logs and drops the data if no request is currently pending on it.

void	RejectAllPending (std::string_view reason)
	Rejects and clears every currently-pending promise.

void	SendLoadMap (const std::shared_ptr< Primary > &session, std::string_view map, load_map_id_type load_id, const LoadMapExtras &extras)
	Sends LOAD_MAP to one session. Caller must already hold _mutex.

Static Private Member Functions
static void	RejectPromise (std::shared_ptr< std::promise< SessionInfo > > promise, std::string_view reason)
	Fails a pending request instead of leaving its future unresolved.

Private Attributes
std::function< void(void)>	_callback

PrimaryCommands	_commander

boost::asio::ip::tcp::endpoint	_endpoint

load_map_id_type	_last_load_id = 0u

std::optional< std::string >	_last_map

LoadMapExtras	_last_map_extras

std::shared_ptr< Listener >	_listener

std::unordered_map< const Primary *, load_map_id_type >	_loading

std::mutex	_mutex

std::vector< std::weak_ptr< Primary > >	_new_sessions

uint32_t	_next

ThreadPool	_pool

std::unordered_map< Primary *, std::shared_ptr< std::promise< SessionInfo > > >	_promises

request_observer_type	_request_observer

std::atomic_size_t	_session_count {0u}

std::vector< std::shared_ptr< Primary > >	_sessions

Detailed Description

Definition at line 42 of file router.h.

Member Typedef Documentation

◆ request_observer_type

using carla::multigpu::Router::request_observer_type = std::function<void(const Primary *, MultiGPUCommand, const carla::BufferView &)>

Definition at line 89 of file router.h.

Constructor & Destructor Documentation

◆ Router() [1/2]

carla::multigpu::Router::Router ( void )

Definition at line 18 of file router.cpp.

◆ Router() [2/2]

carla::multigpu::Router::Router ( uint16_t port )

explicit

Definition at line 40 of file router.cpp.

References _endpoint, _listener, _pool, and carla::ThreadPool::io_context().

◆ ~Router()

carla::multigpu::Router::~Router ( )

Definition at line 21 of file router.cpp.

References Stop().

Member Function Documentation

◆ AsyncRun()

void carla::multigpu::Router::AsyncRun ( size_t worker_threads )

Definition at line 81 of file router.cpp.

References _pool, and carla::ThreadPool::AsyncRun().

Referenced by TEST(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), and TEST_F().

◆ ClearSessions()

void carla::multigpu::Router::ClearSessions ( )

private

Definition at line 175 of file router.cpp.

References _loading, _mutex, _new_sessions, _session_count, _sessions, carla::log_info(), and RejectAllPending().

Referenced by Stop().

◆ ConnectSession()

void carla::multigpu::Router::ConnectSession ( std::shared_ptr< Primary > session )

private

Definition at line 89 of file router.cpp.

References _callback, _last_load_id, _last_map, _last_map_extras, _loading, _mutex, _new_sessions, _session_count, _sessions, DEBUG_ASSERT, carla::log_info(), and SendLoadMap().

◆ DisconnectSession()

void carla::multigpu::Router::DisconnectSession ( std::shared_ptr< Primary > session )

private

Definition at line 107 of file router.cpp.

References _loading, _mutex, _promises, _session_count, _sessions, DEBUG_ASSERT, carla::log_info(), and RejectPromise().

◆ GetCommander()

PrimaryCommands & carla::multigpu::Router::GetCommander ( )

inline

Definition at line 85 of file router.h.

References _commander.

Referenced by TEST().

◆ GetLocalEndpoint()

boost::asio::ip::tcp::endpoint carla::multigpu::Router::GetLocalEndpoint ( ) const

Definition at line 85 of file router.cpp.

References _endpoint.

Referenced by TEST().

◆ HandleResponse()

void carla::multigpu::Router::HandleResponse	(	std::shared_ptr< Primary >	session,
		Buffer	buffer
	)

private

Re-arms the new-connection resync if buffer is the secondary's episode-ready marker (checked first, so it can never be misdelivered to a pending promise on the same session); otherwise resolves the pending promise for session with buffer, or logs and drops the data if no request is currently pending on it.

Definition at line 142 of file router.cpp.

References _callback, _loading, _mutex, _promises, carla::Buffer::data(), carla::log_info(), carla::log_warning(), carla::multigpu::ParseEpisodeReadyMessage(), and carla::Buffer::size().

◆ HasClientsConnected()

bool carla::multigpu::Router::HasClientsConnected ( ) const

inline

Any thread: reads a count kept next to the session list, which is itself only touched under the router's mutex.

Definition at line 81 of file router.h.

References _session_count.

Referenced by TEST_F().

◆ IsAnySecondaryLoading()

bool carla::multigpu::Router::IsAnySecondaryLoading ( )

Whether a connected secondary sent LOAD_MAP has not yet reported the episode of its latest LOAD_MAP ready (a disconnect also clears it).

Definition at line 243 of file router.cpp.

References _loading, and _mutex.

Referenced by TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), TEST_F(), and TEST_F().

◆ IsConnected()

bool carla::multigpu::Router::IsConnected ( const std::weak_ptr< Primary > & server )

Whether server is still one of the connected secondary sessions.

Definition at line 295 of file router.cpp.

References _mutex, and _sessions.

◆ RejectAllPending()

void carla::multigpu::Router::RejectAllPending ( std::string_view reason )

private

Rejects and clears every currently-pending promise.

Caller must already hold _mutex.

Definition at line 128 of file router.cpp.

References _promises, and RejectPromise().

Referenced by ClearSessions().

◆ RejectPromise()

void carla::multigpu::Router::RejectPromise	(	std::shared_ptr< std::promise< SessionInfo > >	promise,
		std::string_view	reason
	)

staticprivate

Fails a pending request instead of leaving its future unresolved.

A session can vanish (dead weak_ptr, disconnect, empty router) between the moment a promise is created and the moment a response would have arrived; without this, the caller's std::future::get() blocks forever.

The failure is delivered as a value (a SessionInfo with a null session), never through std::promise::set_exception(): inside the CarlaUnreal process std::rethrow_exception() binds to the libc++abi copy exported by libcarla-ros2-native.so, while exceptions are allocated and caught by libstdc++'s ABI. std::current_exception() then sees a foreign exception and returns null, so the rpc sync-call packaged_task becomes ready with neither a value nor an exception and the rpc thread reads an unconstructed result (SIGSEGV).

Definition at line 135 of file router.cpp.

References carla::log_error().

Referenced by DisconnectSession(), RejectAllPending(), WriteToNext(), and WriteToOne().

◆ SendLoadMap()

void carla::multigpu::Router::SendLoadMap	(	const std::shared_ptr< Primary > &	session,
		std::string_view	map,
		load_map_id_type	load_id,
		const LoadMapExtras &	extras
	)