use futex for IPC notifications

SConscript

@@ -12,6 +12,7 @@ msgq_objects = env.SharedObject([
   'msgq/impl_zmq.cc',
   'msgq/impl_msgq.cc',
   'msgq/impl_fake.cc',
+  'msgq/futex.cc',
   'msgq/msgq.cc',
 ])
 msgq = env.Library('msgq', msgq_objects)

msgq/futex.cc

@@ -0,0 +1,62 @@
+#include "msgq/futex.h"
+
+#include <fcntl.h>
+#include <limits.h>
+#include <linux/futex.h>
+#include <stdio.h>
+#include <sys/mman.h>
+#include <syscall.h>
+#include <unistd.h>
+
+#include <cassert>
+#include <stdexcept>
+
+Futex::Futex(const std::string &path) {
+  auto fd = open(path.c_str(), O_RDWR | O_CREAT, 0664);
+  if (fd < 0) {
+    throw std::runtime_error("Failed to open file: " + path);
+  }
+
+  if (ftruncate(fd, sizeof(uint32_t)) < 0) {
+    close(fd);
+    throw std::runtime_error("Failed to truncate file: " + path);
+  }
+
+  int *mem = (int *)mmap(NULL, sizeof(uint32_t), PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0);
+  close(fd);
+  if (mem == MAP_FAILED) {
+    throw std::runtime_error("Failed to mmap file: " + path);
+  }
+
+  futex = reinterpret_cast<std::atomic<uint32_t> *>(mem);
+}
+
+Futex::~Futex() {
+  munmap(futex, sizeof(uint32_t));
+}
+
+void Futex::broadcast() {
+  // Increment the futex value to signal waiting threads
+  futex->fetch_add(1, std::memory_order_relaxed);
+
+  // Wake up all threads waiting on the futex
+  syscall(SYS_futex, futex, FUTEX_WAKE, INT_MAX, NULL, NULL, 0);
+}
+
+bool Futex::wait(uint32_t expected, int timeout_ms) {
+  if (futex->load(std::memory_order_relaxed) != expected) {
+    return true;  // Already not equal, no need to wait
+  }
+
+  if (timeout_ms <= 0) {
+    return false;  // Timeout immediately
+  }
+
+  // Perform the futex wait syscall
+  struct timespec ts;
+  ts.tv_sec = timeout_ms / 1000;
+  ts.tv_nsec = (timeout_ms % 1000) * 1000 * 1000;
+  syscall(SYS_futex, futex, FUTEX_WAIT, expected, &ts, nullptr, 0);
+
+  return futex->load(std::memory_order_relaxed) != expected;
+}

msgq/futex.h

@@ -0,0 +1,18 @@
+#pragma once
+
+#include <cstdint>
+#include <atomic>
+#include <string>
+
+
+class Futex {
+public:
+  Futex(const std::string &path);
+  ~Futex();
+  void broadcast();
+  bool wait(uint32_t expected, int timeout_ms);
+  inline uint32_t value() const { return futex->load(); }
+
+private:
+  std::atomic<uint32_t> *futex = nullptr;
+};

msgq/impl_msgq.cc

@@ -82,7 +82,6 @@ Message * MSGQSubSocket::receive(bool non_blocking){
   }
 
   msgq_msg_t msg;
-
   MSGQMessage *r = NULL;
 
   int rc = msgq_msg_recv(&msg, q);
@@ -93,21 +92,15 @@ Message * MSGQSubSocket::receive(bool non_blocking){
     items[0].q = q;
 
     int t = (timeout != -1) ? timeout : 100;
-
-    int n = msgq_poll(items, 1, t);
-    rc = msgq_msg_recv(&msg, q);
-
-    // The poll indicated a message was ready, but the receive failed. Try again
-    if (n == 1 && rc == 0){
-      continue;
+    if (msgq_poll(items, 1, t) > 0) {
+      rc = msgq_msg_recv(&msg, q);
     }
 
     if (timeout != -1){
       break;
     }
   }
 
-
   if (!non_blocking){
     std::signal(SIGINT, prev_handler_sigint);
     std::signal(SIGTERM, prev_handler_sigterm);

msgq/msgq.cc

@@ -3,31 +3,21 @@
 #include <cerrno>
 #include <cmath>
 #include <cstring>
-#include <cstdint>
 #include <chrono>
 #include <algorithm>
 #include <cstdlib>
-#include <csignal>
 #include <random>
 #include <string>
 #include <limits>
-
-#include <poll.h>
-#include <sys/ioctl.h>
 #include <sys/mman.h>
-#include <sys/stat.h>
-#include <sys/types.h>
 #include <sys/syscall.h>
 #include <fcntl.h>
 #include <unistd.h>
 
-#include <stdio.h>
-
+#include "msgq/futex.h"
 #include "msgq/msgq.h"
 
-void sigusr2_handler(int signal) {
-  assert(signal == SIGUSR2);
-}
+Futex g_futex("/dev/shm/msgq_futex");
 
 uint64_t msgq_get_uid(void){
   std::random_device rd("/dev/urandom");
@@ -85,7 +75,6 @@ void msgq_wait_for_subscriber(msgq_queue_t *q){
 
 int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size){
   assert(size < 0xFFFFFFFF); // Buffer must be smaller than 2^32 bytes
-  std::signal(SIGUSR2, sigusr2_handler);
 
   std::string full_path = "/dev/shm/";
   const char* prefix = std::getenv("OPENPILOT_PREFIX");
@@ -142,7 +131,6 @@ void msgq_close_queue(msgq_queue_t *q){
   }
 }
 
-
 void msgq_init_publisher(msgq_queue_t * q) {
   //std::cout << "Starting publisher" << std::endl;
   uint64_t uid = msgq_get_uid();
@@ -158,15 +146,6 @@ void msgq_init_publisher(msgq_queue_t * q) {
   q->write_uid_local = uid;
 }
 
-static void thread_signal(uint32_t tid) {
-  #ifndef SYS_tkill
-    // TODO: this won't work for multithreaded programs
-    kill(tid, SIGUSR2);
-  #else
-    syscall(SYS_tkill, tid, SIGUSR2);
-  #endif
-}
-
 void msgq_init_subscriber(msgq_queue_t * q) {
   assert(q != NULL);
   assert(q->num_readers != NULL);
@@ -185,14 +164,11 @@ void msgq_init_subscriber(msgq_queue_t * q) {
 
       for (size_t i = 0; i < NUM_READERS; i++){
         *q->read_valids[i] = false;
-
-        uint64_t old_uid = *q->read_uids[i];
         *q->read_uids[i] = 0;
-
-        // Wake up reader in case they are in a poll
-        thread_signal(old_uid & 0xFFFFFFFF);
       }
 
+      // Notify readers
+      g_futex.broadcast();
       continue;
     }
 
@@ -293,10 +269,7 @@ int msgq_msg_send(msgq_msg_t * msg, msgq_queue_t *q){
   PACK64(*q->write_pointer, write_cycles, new_ptr);
 
   // Notify readers
-  for (uint64_t i = 0; i < num_readers; i++){
-    uint64_t reader_uid = *q->read_uids[i];
-    thread_signal(reader_uid & 0xFFFFFFFF);
-  }
+  g_futex.broadcast();
 
   return msg->size;
 }
@@ -414,42 +387,31 @@ int msgq_msg_recv(msgq_msg_t * msg, msgq_queue_t * q){
     goto start;
   }
 
-
   return msg->size;
 }
 
-
-
-int msgq_poll(msgq_pollitem_t * items, size_t nitems, int timeout){
+int msgq_poll(msgq_pollitem_t * items, size_t nitems, int timeout) {
   int num = 0;
+  int timeout_ms = (timeout == -1) ? 100 : timeout;
+  uint32_t current_futex_value = 0;
 
-  // Check if messages ready
-  for (size_t i = 0; i < nitems; i++) {
-    items[i].revents = msgq_msg_ready(items[i].q);
-    if (items[i].revents) num++;
-  }
-
-  int ms = (timeout == -1) ? 100 : timeout;
-  struct timespec ts;
-  ts.tv_sec = ms / 1000;
-  ts.tv_nsec = (ms % 1000) * 1000 * 1000;
-
-
+  auto start_time = std::chrono::high_resolution_clock::now();
   while (num == 0) {
-    int ret;
-
-    ret = nanosleep(&ts, &ts);
+    if (g_futex.wait(current_futex_value, timeout_ms)) {
+      current_futex_value = g_futex.value();
 
-    // Check if messages ready
-    for (size_t i = 0; i < nitems; i++) {
-      if (items[i].revents == 0 && msgq_msg_ready(items[i].q)){
-        num += 1;
-        items[i].revents = 1;
+      // Check if messages ready
+      for (size_t i = 0; i < nitems; i++) {
+        items[i].revents = msgq_msg_ready(items[i].q);
+        if (items[i].revents) ++num;
       }
     }
 
-    // exit if we had a timeout and the sleep finished
-    if (timeout != -1 && ret == 0){
+    // Update the remaining timeout
+    auto current_time = std::chrono::high_resolution_clock::now();
+    timeout_ms -= std::chrono::duration_cast<std::chrono::milliseconds>(current_time - start_time).count();
+    start_time = current_time;
+    if (timeout_ms <= 0) {
       break;
     }
   }