Modified to receive multiple core affinity parameters according to th…

…e update of REP-2017 below.

ros-infrastructure/rep#385

Signed-off-by: Shoji Morita <s-morita@esol.co.jp>

include/rcutils/thread_attr.h

@@ -15,6 +15,8 @@
 #ifndef RCUTILS__THREAD_ATTR_H_
 #define RCUTILS__THREAD_ATTR_H_
 
+#include <stdbool.h>
+
 #include "rcutils/visibility_control.h"
 
 #include "rcutils/allocator.h"
@@ -38,10 +40,20 @@ typedef enum rcutils_thread_scheduling_policy_e
   RCUTILS_THREAD_SCHEDULING_POLICY_DEADLINE = 7
 } rcutils_thread_scheduling_policy_t;
 
+typedef struct rcutils_thread_core_affinity_s
+{
+  // Array for bit pattern of core affinity
+  uint8_t * set;
+  // Bit count in the set
+  size_t core_count;
+  // Allocator used to allocate the set
+  rcutils_allocator_t allocator;
+} rcutils_thread_core_affinity_t;
+
 typedef struct rcutils_thread_attr_s
 {
   /// Thread core affinity
-  int core_affinity;
+  rcutils_thread_core_affinity_t core_affinity;
   /// Thread scheduling policy.
   rcutils_thread_scheduling_policy_t scheduling_policy;
   /// Thread priority.
@@ -92,7 +104,6 @@ rcutils_thread_attrs_init(
  * \brief Initialize list of thread attributes with a capacity.
  * \param[out] thread_attrs list of thread attributes to be initialized
  * \param[in] allocator memory allocator to be used
- * \param[in] capacity initial capacity of the list of thread attributes
  * \return #RCUTILS_RET_OK if the structure was initialized succeessfully, or
  * \return #RCUTILS_RET_INVALID_ARGUMENT if any function arguments are invalid, or
  * \return #RCUTILS_RET_BAD_ALLOC if allocating memory failed, or
@@ -133,7 +144,7 @@ rcutils_thread_attrs_copy(
 
 /**
  * \brief Add thread attribute to the list of thread attributes.
- * \param[inout] thread_attrs list of thread attributes to add a thread attribute to
+ * \param[in,out] thread_attrs list of thread attributes to add a thread attribute to
  * \param[in] sched_policy thread scheduling policy of adding attribute
  * \param[in] core_affinity thread core affinity of adding attribute
  * \param[in] priority thread priority of adding attribute
@@ -149,10 +160,151 @@ rcutils_ret_t
 rcutils_thread_attrs_add_attr(
   rcutils_thread_attrs_t * thread_attrs,
   rcutils_thread_scheduling_policy_t sched_policy,
-  int core_affinity,
+  rcutils_thread_core_affinity_t const * core_affinity,
   int priority,
   char const * name);
 
+/**
+ * \brief Return a zero-initialized rcutils_thread_core_affinity_t object.
+ * \return zero-initialized rcutils_thread_core_affinity_t.
+ */
+RCUTILS_PUBLIC
+RCUTILS_WARN_UNUSED
+rcutils_thread_core_affinity_t
+rcutils_get_zero_initialized_thread_core_affinity(void);
+
+/**
+ * \brief Initialize thread core affinity.
+ * \param[out] affinity thread core affinity to be initialized.
+ * \param[in] allocator allocator for internal memory operations for the thread core affinity.
+ * \return #RCUTILS_RET_OK if affinity was successfully initialized, or
+ * \return #RCUTILS_RET_INVALID_ARGUMENT if any function arguments are invalid, or
+ * \return #RCUTILS_RET_ERROR an unspecified error occur.
+ */
+RCUTILS_PUBLIC
+RCUTILS_WARN_UNUSED
+rcutils_ret_t
+rcutils_thread_core_affinity_init(
+  rcutils_thread_core_affinity_t * affinity,
+  rcutils_allocator_t allocator);
+
+/**
+ * \brief Initialize thread core affinity with number of cores.
+ * \param[out] affinity thread core affinity to be initialized.
+ * \param[in] num_cores initial number of core in the thread core affinity
+ * \param[in] allocator allocator for internal memory operations for the thread core affinity.
+ * \return #RCUTILS_RET_OK if affinity was successfully initialized, or
+ * \return #RCUTILS_RET_INVALID_ARGUMENT if any function arguments are invalid, or
+ * \return #RCUTILS_RET_BAD_ALLOC if allocating memory failed, or
+ * \return #RCUTILS_RET_ERROR an unspecified error occur.
+ */
+RCUTILS_PUBLIC
+RCUTILS_WARN_UNUSED
+rcutils_ret_t
+rcutils_thread_core_affinity_init_with_capacity(
+  rcutils_thread_core_affinity_t * affinity,
+  size_t num_cores,
+  rcutils_allocator_t allocator);
+
+/**
+ * \brief Copy thread core affinity.
+ * \param[in] src core affinity to be copied.
+ * \param[out] dest the destination.
+ * \return #RCUTILS_RET_OK if affinity was successfully copied, or
+ * \return #RCUTILS_RET_INVALID_ARGUMENT if any function arguments are invalid, or
+ * \return #RCUTILS_RET_BAD_ALLOC if allocating memory failed, or
+ * \return #RCUTILS_RET_ERROR an unspecified error occur.
+ */
+RCUTILS_PUBLIC
+RCUTILS_WARN_UNUSED
+rcutils_ret_t
+rcutils_thread_core_affinity_copy(
+  rcutils_thread_core_affinity_t const * src, rcutils_thread_core_affinity_t * dest);
+
+/**
+ * \brief Free thread core affinity.
+ * \param[in,out] affinity thread core affinity to be freed
+ * \return #RCUTILS_RET_OK if affitiny was successfully freed, or
+ * \return #RCUTILS_RET_INVALID_ARGUMENT if any function arguments are invalid, or
+ * \return #RCUTILS_RET_ERROR an unspecified error occur.
+ */
+RCUTILS_PUBLIC
+RCUTILS_WARN_UNUSED
+rcutils_ret_t
+rcutils_thread_core_affinity_fini(rcutils_thread_core_affinity_t * affinity);
+
+/**
+ * \brief Add processor number to thread core affinity.
+ * \param[in,out] affinity thread core affinity
+ * \param[in] no processor number to be added to the affinity set
+ * \return #RCUTILS_RET_OK if the processor number is successfully added to the affinity.
+ * \return #RCUTILS_RET_INVALID_ARGUMENT if any function arguments are invalid, or
+ * \return #RCUTILS_RET_BAD_ALLOC if allocating memory failed, or
+ * \return #RCUTILS_RET_ERROR an unspecified error occur.
+ */
+RCUTILS_PUBLIC
+RCUTILS_WARN_UNUSED
+rcutils_ret_t
+rcutils_thread_core_affinity_set(rcutils_thread_core_affinity_t * affinity, size_t no);
+
+/**
+ * \brief Remove processor number from thread core affinity.
+ * \param[in,out] affinity thread core affinity
+ * \param[in] no processor number to be removed from the affinity set
+ * \return #RCUTILS_RET_OK if the processor number is successfully removed from the affinity.
+ * \return #RCUTILS_RET_INVALID_ARGUMENT if any function arguments are invalid, or
+ * \return #RCUTILS_RET_ERROR an unspecified error occur.
+ */
+RCUTILS_PUBLIC
+RCUTILS_WARN_UNUSED
+rcutils_ret_t
+rcutils_thread_core_affinity_unset(rcutils_thread_core_affinity_t * affinity, size_t no);
+
+/**
+ * \brief Add processor numbers which are included in a range to thread core affinity.
+ * \param[in,out] affinity thread core affinity
+ * \param[in] min_no lower bound of the processor number range to be added (inclusive)
+ * \param[in] max_no upper bound of the processor number range to be added (inclusive)
+ * \return #RCUTILS_RET_OK if the processor numbers are successfully added to the affinity.
+ * \return #RCUTILS_RET_INVALID_ARGUMENT if any function arguments are invalid, or
+ * \return #RCUTILS_RET_INVALID_ARGUMENT if max_no less than min_no, or
+ * \return #RCUTILS_RET_BAD_ALLOC if allocating memory failed, or
+ * \return #RCUTILS_RET_ERROR an unspecified error occur.
+ */
+RCUTILS_PUBLIC
+RCUTILS_WARN_UNUSED
+rcutils_ret_t
+rcutils_thread_core_affinity_fill(
+  rcutils_thread_core_affinity_t * affinity, size_t min_no, size_t max_no);
+
+/**
+ * \brief Remove processor numbers which are included in a range from thread core affinity.
+ * \param[in,out] affinity thread core affinity
+ * \param[in] min_no lower bound of the processor number range to be removed (inclusive)
+ * \param[in] max_no upper bound of the processor number range to be removed (inclusive)
+ * \return #RCUTILS_RET_OK if the processor numbers are successfully removed from the affinity.
+ * \return #RCUTILS_RET_INVALID_ARGUMENT if any function arguments are invalid, or
+ * \return #RCUTILS_RET_INVALID_ARGUMENT if max_no less than min_no, or
+ * \return #RCUTILS_RET_BAD_ALLOC if allocating memory failed, or
+ * \return #RCUTILS_RET_ERROR an unspecified error occur.
+ */
+RCUTILS_PUBLIC
+RCUTILS_WARN_UNUSED
+rcutils_ret_t
+rcutils_thread_core_affinity_clear(
+  rcutils_thread_core_affinity_t * affinity, size_t min_no, size_t max_no);
+
+/**
+ * \brief check if thread core affinity contains processor number.
+ * \param[in] affinity thread core affinity
+ * \param[in] no processor number to check
+ * \return true if the thread core affinity includes the number, false otherwise.
+ */
+RCUTILS_PUBLIC
+RCUTILS_WARN_UNUSED
+bool
+rcutils_thread_core_affinity_is_set(rcutils_thread_core_affinity_t const * affinity, size_t no);
+
 #ifdef __cplusplus
 }
 #endif