Implement graceful shutdown and termination signalling

Author: ShoroukRamzy

BUILD

@@ -23,7 +23,6 @@ setup_starpls(
 copyright_checker(
     name = "copyright",
     srcs = [
-        "src",
         "tests",
         "//:BUILD",
         "//:MODULE.bazel",

Cargo.lock

@@ -89,7 +89,7 @@ Install *bytehound* with the following commands:
 
 ```sh
 wget https://github.com/koute/bytehound/releases/download/0.11.0/bytehound-x86_64-unknown-linux-gnu.tgz
-tar xzf bytehound-x86_64-unknown-linux-gnu.tgz bytehound libbytehound.so 
+tar xzf bytehound-x86_64-unknown-linux-gnu.tgz bytehound libbytehound.so
 mv bytehound libbytehound.so $HOME/.cargo/bin
 ```
 
@@ -113,5 +113,3 @@ bytehound server memory-profiling_*.dat
 
 Click on the [link](http://127.0.0.1:8080) in the output to open the browser and
 see the results. Setup ssh port forwarding if needed when working remote (`ssh -L 8080:localhost:8080 host`).
-
-

README.md

@@ -179,6 +179,7 @@ mod direct_mpsc {
 
         let agent_id = params.agent_id;
         PrimaryConfig {
+            id: agent_id,
             cycle_time: params.feo_cycle_time,
             activity_dependencies: app_config.activity_dependencies(),
             // With only one agent, we cannot attach a recorder
@@ -228,12 +229,14 @@ mod direct_sockets {
     ) -> PrimaryConfig {
         let agent_id = params.agent_id;
         PrimaryConfig {
+            id: agent_id,
             cycle_time: params.feo_cycle_time,
             activity_dependencies: app_config.activity_dependencies(),
             recorder_ids: app_config.recorders(),
             worker_assignments: app_config.worker_assignments().remove(&agent_id).unwrap(),
             timeout: Duration::from_secs(10),
             endpoint: endpoint(&app_config, signalling),
+            activity_agent_map: app_config.activity_worker_map().iter().map(|(act_id, w_id)| (*act_id, app_config.worker_agent_map().get(w_id).copied().unwrap())).collect(),
         }
     }
 

examples/rust/cycle-benchmark/src/bin/cycle_bench.rs

@@ -24,8 +24,13 @@ rust_library(
         "src/lib.rs",
     ],
     crate_features = [
+<<<<<<< HEAD
         "com_linux_shm",
         "signalling_relayed_tcp",
+=======
+        "com_iox2",
+        "signalling_direct_tcp",
+>>>>>>> 9f85924 ( handling shutdown and termination signallingin all signalling modes)
     ],
     crate_name = "mini_adas",
     proc_macro_deps = [
@@ -58,7 +63,7 @@ rust_library(
     crate_features = [
         "com_linux_shm",
         "recording",
-        "signalling_relayed_tcp",
+        "signalling_direct_tcp",
     ],
     crate_name = "mini_adas",
     proc_macro_deps = [
@@ -131,7 +136,7 @@ rust_binary(
     ],
     crate_features = [
         "recording",
-        "signalling_relayed_tcp",
+        "signalling_direct_tcp",
     ],
     visibility = ["//visibility:public"],
     deps = [

examples/rust/mini-adas/BUILD.bazel

@@ -33,7 +33,7 @@ com_iox2 = ["feo-com/ipc_iceoryx2"]
 com_linux_shm = ["feo-com/ipc_linux_shm"]
 default = ["com_iox2", "signalling_relayed_tcp"]
 signalling_direct_mpsc = []
-signalling_direct_tcp = []
+signalling_direct_tcp = ["com_iox2"]
 signalling_direct_unix = []
 signalling_relayed_tcp = []
 signalling_relayed_unix = []

examples/rust/mini-adas/Cargo.toml

@@ -93,5 +93,19 @@ cargo run --no-default-features --features signalling_direct_tcp --bin adas_seco
 cargo run --no-default-features --features signalling_direct_tcp --bin adas_secondary 2
 ```
 
+### Direct Mode with a Recorder
+
+To run with a recorder in direct mode.
+
+```sh
+# Use 400ms cycle time and wait for recorder 900
+cargo run --no-default-features --features "signalling_direct_tcp,com_iox2" --bin adas_primary -- 400 900
+```
+
+```sh
+# Start recorder with ID 900 in direct mode
+cargo run --no-default-features --features "signalling_direct_tcp,recording,com_iox2" --bin adas_recorder -- 900
+```
+
 Note that for mpsc-only signalling, there can be only a primary process without
-any secondaries or recorders, because mpsc does not support inter-process signalling.
+any secondaries or recorders, because mpsc does not support inter-process signalling.

examples/rust/mini-adas/README.md

@@ -98,7 +98,9 @@ impl Activity for Camera {
     }
 
     #[instrument(name = "Camera shutdown")]
-    fn shutdown(&mut self) {}
+    fn shutdown(&mut self) {
+        debug!("Shutting down Camera activity {}", self.activity_id);
+    }
 }
 
 /// Radar activity
@@ -161,7 +163,9 @@ impl Activity for Radar {
     }
 
     #[instrument(name = "Radar shutdown")]
-    fn shutdown(&mut self) {}
+    fn shutdown(&mut self) {
+        debug!("Shutting down Radar activity {}", self.activity_id);
+    }
 }
 
 /// Neural network activity
@@ -251,7 +255,9 @@ impl Activity for NeuralNet {
     }
 
     #[instrument(name = "NeuralNet shutdown")]
-    fn shutdown(&mut self) {}
+    fn shutdown(&mut self) {
+        debug!("Shutting down NeuralNet activity {}", self.activity_id);
+    }
 }
 
 /// Emergency braking activity
@@ -328,7 +334,9 @@ impl Activity for EmergencyBraking {
     }
 
     #[instrument(name = "EmergencyBraking shutdown")]
-    fn shutdown(&mut self) {}
+    fn shutdown(&mut self) {
+        debug!("Shutting down EmergencyBraking activity {}", self.activity_id);
+    }
 }
 
 /// Brake controller activity
@@ -378,7 +386,9 @@ impl Activity for BrakeController {
     }
 
     #[instrument(name = "BrakeController shutdown")]
-    fn shutdown(&mut self) {}
+    fn shutdown(&mut self) {
+        debug!("Shutting down BrakeController activity {}", self.activity_id);
+    }
 }
 
 /// Environment renderer activity
@@ -422,7 +432,9 @@ impl Activity for EnvironmentRenderer {
     }
 
     #[instrument(name = "EnvironmentRenderer shutdown")]
-    fn shutdown(&mut self) {}
+    fn shutdown(&mut self) {
+        debug!("Shutting down EnvironmentRenderer activity {}", self.activity_id);
+    }
 }
 
 /// Steering controller activity
@@ -470,7 +482,9 @@ impl Activity for SteeringController {
     }
 
     #[instrument(name = "SteeringController shutdown")]
-    fn shutdown(&mut self) {}
+    fn shutdown(&mut self) {
+        debug!("Shutting down SteeringController activity {}", self.activity_id);
+    }
 }
 
 /// Create an activity input.