awe/radar_system
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

fix graph and white background added

Browse Source
This commit is contained in:
Ayzen
2026-10-15 14:46:06 +03:00
parent 5102ed751c
commit 9a9b8ce5c7
35 changed files with 730 additions and 463 deletions
Download Patch File Download Diff File Expand all files Collapse all files
python_app/orchestration/shm/ring_reader.py
+38 -40
View File
@@ -49,52 +49,50 @@ class ShmRingReader:
logger.debug("Closed SHM ring reader %s", self.name)
def pop_payload(self) -> bytes | None:
"""Read next payload from ring, or `None` if no unread payload exists."""
write_seq = self._read_u64(24)
read_seq = self._read_u64(32)
if read_seq >= write_seq:
return None
"""Read the next unread payload, or `None` once none remains."""
while True:
write_seq = self._read_u64(24)
read_seq = self._read_u64(32)
if read_seq >= write_seq:
return None
# As in the C++ pop, a lapped, torn or corrupt slot is skipped with the backlog
# behind the newest payload, which is read next (latest-wins).
resync = max(read_seq + 1, write_seq - 1)
index = read_seq % self.capacity
slot_offset = HEADER.size + index * (SLOT_HEADER_SIZE + self.slot_size_bytes)
index = read_seq % self.capacity
slot_offset = HEADER.size + index * (SLOT_HEADER_SIZE + self.slot_size_bytes)
# Seqlock read mirroring the C++ pop: a slot is valid for read_seq R only if
# its sequence equals R+1 and is unchanged across the payload copy (i.e. the
# producer did not overwrite this slot mid-copy). Sequence and payload_size
# are read first; the slot is only accepted after the re-read confirms both.
sequence = self._read_u64(slot_offset + 8)
if sequence != read_seq + 1:
# Producer overwrote this slot before we read it. Resync to latest.
logger.debug("Ring %s: slot lapped before read, resyncing to write_seq=%d", self.name, write_seq)
atomics.advance(self._mmap, 32, write_seq)
return None
# Seqlock read mirroring the C++ pop: a slot is valid for read_seq R only if
# its sequence equals R+1 and is unchanged across the payload copy (i.e. the
# producer did not overwrite this slot mid-copy). Sequence and payload_size
# are read first; the slot is only accepted after the re-read confirms both.
if self._read_u64(slot_offset + 8) != read_seq + 1:
logger.debug("Ring %s: slot lapped before read, resyncing to %d", self.name, resync)
atomics.advance(self._mmap, 32, resync)
continue
payload_size = self._read_u32(slot_offset)
# Bound payload_size against the slot before slicing so a torn/garbage size
# can never read out of the slot region; resync and skip on violation.
if payload_size > self.slot_size_bytes:
logger.debug(
"Ring %s: payload_size %d exceeds slot %d, resyncing",
self.name,
payload_size,
self.slot_size_bytes,
)
atomics.advance(self._mmap, 32, write_seq)
return None
payload_size = self._read_u32(slot_offset)
# Bound payload_size against the slot before slicing so a torn/garbage size
# can never read out of the slot region.
if payload_size > self.slot_size_bytes:
logger.debug("Ring %s: payload_size %d exceeds slot %d, resyncing to %d",
self.name, payload_size, self.slot_size_bytes, resync)
atomics.advance(self._mmap, 32, resync)
continue
payload_offset = slot_offset + SLOT_HEADER_SIZE
payload = bytes(self._mmap[payload_offset : payload_offset + payload_size])
atomics.fence()
payload_offset = slot_offset + SLOT_HEADER_SIZE
payload = bytes(self._mmap[payload_offset : payload_offset + payload_size])
atomics.fence()
# Re-read the slot sequence after the copy; if it changed, the producer
# overwrote this slot mid-copy and the payload is torn — discard and resync.
if self._read_u64(slot_offset + 8) != read_seq + 1:
logger.debug("Ring %s: slot overwritten mid-copy, discarding torn payload", self.name)
atomics.advance(self._mmap, 32, write_seq)
return None
# Re-read the slot sequence after the copy; if it changed, the producer
# overwrote this slot mid-copy and the payload is torn.
if self._read_u64(slot_offset + 8) != read_seq + 1:
logger.debug("Ring %s: slot overwritten mid-copy, resyncing to %d", self.name, resync)
atomics.advance(self._mmap, 32, resync)
continue
atomics.advance(self._mmap, 32, read_seq + 1)
return payload
atomics.advance(self._mmap, 32, read_seq + 1)
return payload
def pop_raw_collection(self) -> SweepCollection | None:
"""Read next raw collection from ring."""