Use absl::Mutex instead of custom implementation (#1356)
Makes `common::Mutex` an alias for `absl::Mutex` and replaces the logic inside `common::MutexLocker` with `absl::MutexLock`. A future PR can then remove these classes entirely and replace references to it across the Cartographer code base with the Abseil classes directly.master
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b841ebf170
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12e11856af
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@ -95,7 +95,9 @@ cc_library(
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deps = [
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deps = [
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":cc_protos",
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":cc_protos",
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"@boost//:iostreams",
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"@boost//:iostreams",
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"@com_google_absl//absl/base",
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"@com_google_absl//absl/types:optional",
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"@com_google_absl//absl/types:optional",
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"@com_google_absl//absl/synchronization",
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"@com_google_glog//:glog",
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"@com_google_glog//:glog",
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"@org_cairographics_cairo//:cairo",
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"@org_cairographics_cairo//:cairo",
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"@org_ceres_solver_ceres_solver//:ceres",
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"@org_ceres_solver_ceres_solver//:ceres",
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@ -17,83 +17,50 @@
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#ifndef CARTOGRAPHER_COMMON_MUTEX_H_
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#ifndef CARTOGRAPHER_COMMON_MUTEX_H_
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#define CARTOGRAPHER_COMMON_MUTEX_H_
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#define CARTOGRAPHER_COMMON_MUTEX_H_
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#include <condition_variable>
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#include "absl/base/thread_annotations.h"
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#include <mutex>
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#include "absl/synchronization/mutex.h"
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#include "cartographer/common/time.h"
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#include "cartographer/common/time.h"
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namespace cartographer {
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namespace cartographer {
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namespace common {
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namespace common {
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// Enable thread safety attributes only with clang.
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// The attributes can be safely erased when compiling with other compilers.
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#if defined(__SUPPORT_TS_ANNOTATION__) || defined(__clang__)
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#define THREAD_ANNOTATION_ATTRIBUTE__(x) __attribute__((x))
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#else
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#define THREAD_ANNOTATION_ATTRIBUTE__(x) // no-op
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#endif
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#define CAPABILITY(x) THREAD_ANNOTATION_ATTRIBUTE__(capability(x))
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#define SCOPED_CAPABILITY THREAD_ANNOTATION_ATTRIBUTE__(scoped_lockable)
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#define GUARDED_BY(x) THREAD_ANNOTATION_ATTRIBUTE__(guarded_by(x))
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#define PT_GUARDED_BY(x) THREAD_ANNOTATION_ATTRIBUTE__(pt_guarded_by(x))
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#define REQUIRES(...) \
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#define REQUIRES(...) \
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THREAD_ANNOTATION_ATTRIBUTE__(requires_capability(__VA_ARGS__))
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THREAD_ANNOTATION_ATTRIBUTE__(requires_capability(__VA_ARGS__))
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#define ACQUIRE(...) \
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THREAD_ANNOTATION_ATTRIBUTE__(acquire_capability(__VA_ARGS__))
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#define RELEASE(...) \
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THREAD_ANNOTATION_ATTRIBUTE__(release_capability(__VA_ARGS__))
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#define EXCLUDES(...) THREAD_ANNOTATION_ATTRIBUTE__(locks_excluded(__VA_ARGS__))
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#define EXCLUDES(...) THREAD_ANNOTATION_ATTRIBUTE__(locks_excluded(__VA_ARGS__))
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#define NO_THREAD_SAFETY_ANALYSIS \
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// TODO(CodeArno): Replace references in code to absl::Mutex directly.
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THREAD_ANNOTATION_ATTRIBUTE__(no_thread_safety_analysis)
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using Mutex = absl::Mutex;
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// Defines an annotated mutex that can only be locked through its scoped locker
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// implementation.
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class CAPABILITY("mutex") Mutex {
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public:
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// A RAII class that acquires a mutex in its constructor, and
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// A RAII class that acquires a mutex in its constructor, and
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// releases it in its destructor. It also implements waiting functionality on
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// releases it in its destructor. It also implements waiting functionality on
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// conditions that get checked whenever the mutex is released.
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// conditions that get checked whenever the mutex is released.
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class SCOPED_CAPABILITY Locker {
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// TODO(CodeArno): Replace MutexLocker instantiations in the codebase with
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// absl::MutexLock.
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class SCOPED_LOCKABLE MutexLocker {
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public:
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public:
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Locker(Mutex* mutex) ACQUIRE(mutex) : mutex_(mutex), lock_(mutex->mutex_) {}
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MutexLocker(Mutex* mutex) EXCLUSIVE_LOCK_FUNCTION(mutex)
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: mutex_(mutex), lock_(mutex) {}
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~Locker() RELEASE() {
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~MutexLocker() UNLOCK_FUNCTION() {}
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mutex_->condition_.notify_all();
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lock_.unlock();
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}
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template <typename Predicate>
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template <typename Predicate>
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void Await(Predicate predicate) REQUIRES(this) {
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void Await(Predicate predicate) REQUIRES(this) {
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mutex_->condition_.wait(lock_, predicate);
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mutex_->Await(absl::Condition(&predicate));
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}
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}
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template <typename Predicate>
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template <typename Predicate>
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bool AwaitWithTimeout(Predicate predicate, common::Duration timeout)
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bool AwaitWithTimeout(Predicate predicate, common::Duration timeout)
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REQUIRES(this) {
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REQUIRES(this) {
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return mutex_->condition_.wait_for(lock_, timeout, predicate);
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return mutex_->AwaitWithTimeout(absl::Condition(&predicate),
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absl::FromChrono(timeout));
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}
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}
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private:
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private:
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Mutex* mutex_;
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absl::Mutex* mutex_;
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std::unique_lock<std::mutex> lock_;
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absl::MutexLock lock_;
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};
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};
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private:
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std::condition_variable condition_;
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std::mutex mutex_;
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};
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using MutexLocker = Mutex::Locker;
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} // namespace common
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} // namespace common
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} // namespace cartographer
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} // namespace cartographer
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@ -28,7 +28,7 @@ namespace {
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class Receiver {
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class Receiver {
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public:
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public:
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void Receive(int number) {
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void Receive(int number) {
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Mutex::Locker locker(&mutex_);
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MutexLocker locker(&mutex_);
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received_numbers_.push_back(number);
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received_numbers_.push_back(number);
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}
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}
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@ -27,6 +27,8 @@ if(NOT TARGET standalone_absl)
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set(ABSEIL_LIBRARY_PATH
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set(ABSEIL_LIBRARY_PATH
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/synchronization/${prefix}absl_synchronization${suffix}")
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/synchronization/${prefix}absl_synchronization${suffix}")
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set(ABSEIL_DEPENDENT_LIBRARIES
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set(ABSEIL_DEPENDENT_LIBRARIES
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/debugging/${prefix}absl_symbolize${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/time/${prefix}absl_time${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/algorithm/${prefix}absl_algorithm${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/algorithm/${prefix}absl_algorithm${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/base/${prefix}absl_base${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/base/${prefix}absl_base${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/base/${prefix}absl_dynamic_annotations${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/base/${prefix}absl_dynamic_annotations${suffix}"
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@ -41,13 +43,12 @@ if(NOT TARGET standalone_absl)
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/debugging/${prefix}absl_leak_check${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/debugging/${prefix}absl_leak_check${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/debugging/${prefix}absl_stack_consumption${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/debugging/${prefix}absl_stack_consumption${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/debugging/${prefix}absl_stacktrace${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/debugging/${prefix}absl_stacktrace${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/debugging/${prefix}absl_symbolize${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/memory/${prefix}absl_memory${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/memory/${prefix}absl_memory${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/meta/${prefix}absl_meta${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/meta/${prefix}absl_meta${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/numeric/${prefix}absl_int128${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/numeric/${prefix}absl_int128${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/numeric/${prefix}absl_numeric${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/numeric/${prefix}absl_numeric${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/strings/${prefix}absl_strings${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/strings/${prefix}absl_strings${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/time/${prefix}absl_time${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/synchronization/${prefix}absl_synchronization${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/types/${prefix}absl_any${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/types/${prefix}absl_any${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/types/${prefix}absl_bad_any_cast${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/types/${prefix}absl_bad_any_cast${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/types/${prefix}absl_bad_optional_access${suffix}"
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"${ABSEIL_PROJECT_BUILD_DIR}/absl/types/${prefix}absl_bad_optional_access${suffix}"
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