[19435] Apply thread settings

include/fastdds/rtps/RTPSDomain.h

@@ -24,6 +24,7 @@
 #include <set>
 
 #include <fastdds/rtps/attributes/RTPSParticipantAttributes.h>
+#include <fastdds/rtps/attributes/ThreadSettings.hpp>
 #include <fastdds/rtps/common/Types.h>
 #include <fastdds/rtps/history/IPayloadPool.h>
 #include <fastdds/rtps/history/IChangePool.h>
@@ -54,6 +55,18 @@ class RTPSDomain
 {
 public:
 
+    /**
+     * Method to set the configuration of the threads created by the file watcher for the environment file.
+     * In order for these settings to take effect, this method must be called before the first call
+     * to @ref createParticipant.
+     *
+     * @param watch_thread     Settings for the thread watching the environment file.
+     * @param callback_thread  Settings for the thread executing the callback when the environment file changed.
+     */
+    RTPS_DllAPI static void set_filewatch_thread_config(
+            const fastdds::rtps::ThreadSettings& watch_thread,
+            const fastdds::rtps::ThreadSettings& callback_thread);
+
     /**
      * Method to shut down all RTPSParticipants, readers, writers, etc.
      * It must be called at the end of the process to avoid memory leaks.

include/fastdds/rtps/attributes/ThreadSettings.hpp

@@ -17,6 +17,7 @@
  */
 
 #include <cstdint>
+#include <limits>
 
 #include <fastrtps/fastrtps_dll.h>
 
@@ -41,6 +42,7 @@ struct RTPS_DllAPI ThreadSettings
      * A value of -1 indicates system default.
      *
      * This value is platform specific and it is used as-is to configure the specific platform thread.
+     * It is ignored on Windows platforms.
      * Setting this value to something other than the default one may require different privileges
      * on different platforms.
      */
@@ -50,25 +52,27 @@ struct RTPS_DllAPI ThreadSettings
      * @brief The thread's priority.
      *
      * Configures the thread's priority.
-     * A value of 0 indicates system default.
+     * A value of -2^31 indicates system default.
      *
      * This value is platform specific and it is used as-is to configure the specific platform thread.
      * Setting this value to something other than the default one may require different privileges
      * on different platforms.
      */
-    int32_t priority = 0;
+    int32_t priority = std::numeric_limits<int32_t>::min();
 
     /**
-     * @brief The thread's core affinity.
+     * @brief The thread's affinity.
      *
-     * cpu_mask is a bit mask for setting the threads affinity to each core individually.
+     * On some systems (Windows, Linux), this is a bit mask for setting the threads affinity to each core individually.
+     * On MacOS, this sets the affinity tag for the thread, and the OS tries to share the L2 cache between threads
+     * with the same affinity.
      * A value of 0 indicates no particular affinity.
      *
      * This value is platform specific and it is used as-is to configure the specific platform thread.
      * Setting this value to something other than the default one may require different privileges
      * on different platforms.
      */
-    uint32_t cpu_mask = 0;
+    uint64_t affinity = 0;
 
     /**
      * @brief The thread's stack size in bytes.

include/fastdds/rtps/resources/ResourceEvent.h

@@ -22,14 +22,15 @@
 
 #ifndef DOXYGEN_SHOULD_SKIP_THIS_PUBLIC
 
-#include <fastrtps/utils/TimedMutex.hpp>
-#include <fastrtps/utils/TimedConditionVariable.hpp>
-
 #include <atomic>
 #include <functional>
 #include <thread>
 #include <vector>
 
+#include <fastdds/rtps/attributes/ThreadSettings.hpp>
+#include <fastrtps/utils/TimedMutex.hpp>
+#include <fastrtps/utils/TimedConditionVariable.hpp>
+
 namespace eprosima {
 namespace fastrtps {
 namespace rtps {
@@ -51,11 +52,16 @@ class ResourceEvent
     /*!
      * @brief Method to initialize the internal thread.
      *
-     * @param[in]  configure_cb  Function to be called in the context of the started thread
-     *                           before calling the internal service routine.
+     * @param[in]  thread_cfg  Settings to apply to the created thread.
+     * @param[in]  name_fmt    A null-terminated string to be used as the format argument of
+     *                         a `snprintf` like function, taking `thread_id` as additional
+     *                         argument, and used to give a name to the created thread.
+     * @param[in]  thread_id   Single variadic argument passed to the formatting function.
      */
     void init_thread(
-            std::function<void()> configure_cb = {});
+            const fastdds::rtps::ThreadSettings& thread_cfg = {},
+            const char* name_fmt = "event %u",
+            uint32_t thread_id = 0);
 
     void stop_thread();
 

include/fastdds/rtps/transport/PortBasedTransportDescriptor.hpp

@@ -77,7 +77,7 @@ class PortBasedTransportDescriptor : public TransportDescriptorInterface
      * @return The ThreadSettings for the given port.
      */
     virtual RTPS_DllAPI const ThreadSettings& get_thread_config_for_port(
-            uint32_t port);
+            uint32_t port) const;
 
     virtual RTPS_DllAPI bool set_thread_config_for_port(
             const uint32_t& port,

src/cpp/fastdds/domain/DomainParticipantFactory.cpp

@@ -35,6 +35,7 @@
 #include <rtps/history/TopicPayloadPoolRegistry.hpp>
 #include <statistics/fastdds/domain/DomainParticipantImpl.hpp>
 #include <utils/SystemInfo.hpp>
+#include <utils/shared_memory/SharedMemWatchdog.hpp>
 
 using namespace eprosima::fastrtps::xmlparser;
 
@@ -156,6 +157,8 @@ DomainParticipant* DomainParticipantFactory::create_participant(
 {
     load_profiles();
 
+    RTPSDomain::set_filewatch_thread_config(factory_qos_.file_watch_threads(), factory_qos_.file_watch_threads());
+
     const DomainParticipantQos& pqos = (&qos == &PARTICIPANT_QOS_DEFAULT) ? default_participant_qos_ : qos;
 
     DomainParticipant* dom_part = new DomainParticipant(mask);
@@ -422,6 +425,8 @@ void DomainParticipantFactory::set_qos(
     (void) first_time;
     //As all the Qos can always be updated and none of them need to be sent
     to = from;
+
+    rtps::SharedMemWatchdog::set_thread_settings(to.shm_watchdog_thread());
 }
 
 ReturnCode_t DomainParticipantFactory::check_qos(

src/cpp/fastdds/log/Log.cpp

@@ -134,14 +134,17 @@ struct LogResources
     void SetThreadConfig(
             const rtps::ThreadSettings& config)
     {
-        static_cast<void>(config);
-        return;
+        std::lock_guard<std::mutex> guard(cv_mutex_);
+        thread_settings_ = config;
     }
 
     //! Returns the logging_ engine to configuration defaults.
     void Reset()
     {
-        std::unique_lock<std::mutex> configGuard(config_mutex_);
+        rtps::ThreadSettings thr_config{};
+        SetThreadConfig(thr_config);
+
+        std::lock_guard<std::mutex> configGuard(config_mutex_);
         category_filter_.reset();
         filename_filter_.reset();
         error_string_filter_.reset();
@@ -162,7 +165,7 @@ struct LogResources
     {
         std::unique_lock<std::mutex> guard(cv_mutex_);
 
-        if (!logging_ && !logging_thread_)
+        if (!logging_ && !logging_thread_.joinable())
         {
             // already killed
             return;
@@ -237,19 +240,13 @@ struct LogResources
             work_ = false;
         }
 
-        if (logging_thread_)
+        if (logging_thread_.joinable())
         {
             cv_.notify_all();
-            // The #ifdef workaround here is due to an unsolved MSVC bug, which Microsoft has announced
-            // they have no intention of solving: https://connect.microsoft.com/VisualStudio/feedback/details/747145
-            // Each VS version deals with post-main deallocation of threads in a very different way.
-#if !defined(_WIN32) || defined(FASTRTPS_STATIC_LINK) || _MSC_VER >= 1800
-            if (logging_thread_->joinable() && logging_thread_->get_id() != std::this_thread::get_id())
+            if (logging_thread_.get_id() != std::this_thread::get_id())
             {
-                logging_thread_->join();
+                logging_thread_.join();
             }
-#endif // if !defined(_WIN32) || defined(FASTRTPS_STATIC_LINK) || _MSC_VER >= 1800
-            logging_thread_.reset();
         }
     }
 
@@ -258,17 +255,19 @@ struct LogResources
     void StartThread()
     {
         std::unique_lock<std::mutex> guard(cv_mutex_);
-        if (!logging_ && !logging_thread_)
+        if (!logging_ && !logging_thread_.joinable())
         {
             logging_ = true;
-            logging_thread_.reset(new std::thread(&LogResources::run, this));
+            auto thread_fn = [this]()
+                    {
+                        run();
+                    };
+            logging_thread_ = eprosima::create_thread(thread_fn, thread_settings_, "dds.log");
         }
     }
 
     void run()
     {
-        set_name_to_current_thread("dds.log");
-
         std::unique_lock<std::mutex> guard(cv_mutex_);
 
         while (logging_)
@@ -343,7 +342,7 @@ struct LogResources
 
     fastrtps::DBQueue<Log::Entry> logs_;
     std::vector<std::unique_ptr<LogConsumer>> consumers_;
-    std::unique_ptr<std::thread> logging_thread_;
+    std::thread logging_thread_;
 
     // Condition variable segment.
     std::condition_variable cv_;
@@ -361,7 +360,7 @@ struct LogResources
     std::unique_ptr<std::regex> error_string_filter_;
 
     std::atomic<Log::Kind> verbosity_;
-
+    rtps::ThreadSettings thread_settings_;
 };
 
 std::shared_ptr<LogResources> get_log_resources()

src/cpp/rtps/DataSharing/DataSharingListener.cpp

@@ -31,6 +31,7 @@ namespace rtps {
 DataSharingListener::DataSharingListener(
         std::shared_ptr<DataSharingNotification> notification,
         const std::string& datasharing_pools_directory,
+        const fastdds::rtps::ThreadSettings& thr_config,
         ResourceLimitedContainerConfig limits,
         RTPSReader* reader)
     : notification_(notification)
@@ -39,6 +40,7 @@ DataSharingListener::DataSharingListener(
     , writer_pools_(limits)
     , writer_pools_changed_(false)
     , datasharing_pools_directory_(datasharing_pools_directory)
+    , thread_config_(thr_config)
 {
 }
 
@@ -50,8 +52,6 @@ DataSharingListener::~DataSharingListener()
 
 void DataSharingListener::run()
 {
-    set_name_to_current_thread("dds.dsha.%u", reader_->getGuid().entityId.to_uint32() & 0x0000FFFF);
-
     std::unique_lock<Segment::mutex> lock(notification_->notification_->notification_mutex, std::defer_lock);
     while (is_running_.load())
     {
@@ -100,13 +100,15 @@ void DataSharingListener::start()
     }
 
     // Initialize the thread
-    listening_thread_ = new std::thread(&DataSharingListener::run, this);
+    uint32_t thread_id = reader_->getGuid().entityId.to_uint32() & 0x0000FFFF;
+    listening_thread_ = create_thread([this]()
+                    {
+                        run();
+                    }, thread_config_, "dds.dsha.%u", thread_id);
 }
 
 void DataSharingListener::stop()
 {
-    std::thread* thr = nullptr;
-
     {
         std::lock_guard<std::mutex> guard(mutex_);
 
@@ -116,15 +118,11 @@ void DataSharingListener::stop()
         {
             return;
         }
-
-        thr = listening_thread_;
-        listening_thread_ = nullptr;
     }
 
     // Notify the thread and wait for it to finish
     notification_->notify();
-    thr->join();
-    delete thr;
+    listening_thread_.join();
 }
 
 void DataSharingListener::process_new_data ()

src/cpp/rtps/DataSharing/DataSharingListener.hpp

@@ -19,15 +19,17 @@
 #ifndef RTPS_DATASHARING_DATASHARINGLISTENER_HPP
 #define RTPS_DATASHARING_DATASHARINGLISTENER_HPP
 
+#include <atomic>
+#include <map>
+#include <memory>
+
 #include <fastdds/dds/log/Log.hpp>
+#include <fastdds/rtps/attributes/ThreadSettings.hpp>
+#include <fastrtps/utils/collections/ResourceLimitedVector.hpp>
+
 #include <rtps/DataSharing/IDataSharingListener.hpp>
 #include <rtps/DataSharing/DataSharingNotification.hpp>
 #include <rtps/DataSharing/ReaderPool.hpp>
-#include <fastrtps/utils/collections/ResourceLimitedVector.hpp>
-
-#include <memory>
-#include <atomic>
-#include <map>
 
 namespace eprosima {
 namespace fastrtps {
@@ -46,6 +48,7 @@ class DataSharingListener : public IDataSharingListener
     DataSharingListener(
             std::shared_ptr<DataSharingNotification> notification,
             const std::string& datasharing_pools_directory,
+            const fastdds::rtps::ThreadSettings& thr_config,
             ResourceLimitedContainerConfig limits,
             RTPSReader* reader);
 
@@ -111,10 +114,11 @@ class DataSharingListener : public IDataSharingListener
     std::shared_ptr<DataSharingNotification> notification_;
     std::atomic<bool> is_running_;
     RTPSReader* reader_;
-    std::thread* listening_thread_;
+    std::thread listening_thread_;
     ResourceLimitedVector<WriterInfo> writer_pools_;
     std::atomic<bool> writer_pools_changed_;
     std::string datasharing_pools_directory_;
+    fastdds::rtps::ThreadSettings thread_config_;
     mutable std::mutex mutex_;
 
 };

src/cpp/rtps/RTPSDomain.cpp

@@ -66,6 +66,13 @@ std::shared_ptr<RTPSDomainImpl> RTPSDomainImpl::get_instance()
     return instance;
 }
 
+void RTPSDomain::set_filewatch_thread_config(
+        const fastdds::rtps::ThreadSettings& watch_thread,
+        const fastdds::rtps::ThreadSettings& callback_thread)
+{
+    RTPSDomainImpl::set_filewatch_thread_config(watch_thread, callback_thread);
+}
+
 void RTPSDomain::stopAll()
 {
     RTPSDomainImpl::stopAll();
@@ -143,8 +150,10 @@ RTPSParticipant* RTPSDomainImpl::createParticipant(
         std::string filename = SystemInfo::get_environment_file();
         if (!filename.empty() && SystemInfo::file_exists(filename))
         {
+            std::lock_guard<std::mutex> guard(instance->m_mutex);
             // Create filewatch
-            instance->file_watch_handle_ = SystemInfo::watch_file(filename, RTPSDomainImpl::file_watch_callback);
+            instance->file_watch_handle_ = SystemInfo::watch_file(filename, RTPSDomainImpl::file_watch_callback,
+                            instance->watch_thread_config_, instance->callback_thread_config_);
         }
         else if (!filename.empty())
         {
@@ -778,6 +787,16 @@ void RTPSDomainImpl::file_watch_callback()
     }
 }
 
+void RTPSDomainImpl::set_filewatch_thread_config(
+        const fastdds::rtps::ThreadSettings& watch_thread,
+        const fastdds::rtps::ThreadSettings& callback_thread)
+{
+    auto instance = get_instance();
+    std::lock_guard<std::mutex> guard(instance->m_mutex);
+    instance->watch_thread_config_ = watch_thread;
+    instance->callback_thread_config_ = callback_thread;
+}
+
 } // namespace rtps
 } // namespace fastrtps
 } // namespace eprosima