FairMQ DDS plugin: fix incomplete shutdown when dds server is terminated

fairmq/FairMQStateMachine.cxx

@@ -209,10 +209,13 @@ void FairMQStateMachine::SubscribeToStateChange(const std::string& key, std::fun
     fStateChangeSignalsMap.insert({key, fStateChangeSignal.connect(callback)});
 }
 void FairMQStateMachine::UnsubscribeFromStateChange(const std::string& key)
+{
+    if (fStateChangeSignalsMap.count(key))
     {
         fStateChangeSignalsMap.at(key).disconnect();
         fStateChangeSignalsMap.erase(key);
     }
+}
 
 int FairMQStateMachine::GetEventNumber(const std::string& event)
 {

fairmq/PluginServices.cxx

@@ -104,7 +104,7 @@ auto PluginServices::ChangeDeviceState(const std::string& controller, const Devi
     {
         throw DeviceControlError{tools::ToString(
             "Plugin '", controller, "' is not allowed to change device states. ",
-            "Currently, plugin '", fDeviceController, "' has taken control."
+            "Currently, plugin '", *fDeviceController, "' has taken control."
         )};
     }
 }
@@ -125,7 +125,7 @@ auto PluginServices::TakeDeviceControl(const std::string& controller) -> void
     {
         throw DeviceControlError{tools::ToString(
             "Plugin '", controller, "' is not allowed to take over control. ",
-            "Currently, plugin '", fDeviceController, "' has taken control."
+            "Currently, plugin '", *fDeviceController, "' has taken control."
         )};
     }
 }
@@ -134,11 +134,8 @@ auto PluginServices::StealDeviceControl(const std::string& controller) -> void
 {
     lock_guard<mutex> lock{fDeviceControllerMutex};
 
-    if (!fDeviceController)
-    {
     fDeviceController = controller;
 }
-}
 
 auto PluginServices::ReleaseDeviceControl(const std::string& controller) -> void
 {

fairmq/plugins/DDS/DDS.cxx

@@ -37,19 +37,13 @@ DDS::DDS(const string name, const Plugin::Version version, const string maintain
     , fEventsMutex()
     , fNewEvent()
     , fDeviceTerminationRequested(false)
-    , fIosWork{fIos}
-    , fHeartbeatTimer{fIos, fHeartbeatInterval}
     , fHeartbeatInterval{100}
 {
     try
     {
         TakeDeviceControl();
         fControllerThread = thread(&DDS::HandleControl, this);
-
-        fIosWorkerThread = thread([&]{ fIos.run(); });
-
-        fHeartbeatTimer.expires_from_now(chrono::milliseconds{0});
-        fHeartbeatTimer.async_wait(bind(&DDS::Heartbeat, this, placeholders::_1));
+        fHeartbeatThread = thread(&DDS::HeartbeatSender, this);
     }
     catch (PluginServices::DeviceControlError& e)
     {
@@ -136,9 +130,16 @@ auto DDS::HandleControl() -> void
     fDDSKeyValue.unsubscribe();
     fDDSCustomCmd.unsubscribe();
 
+    try
+    {
         UnsubscribeFromDeviceStateChange();
         ReleaseDeviceControl();
     }
+    catch (fair::mq::PluginServices::DeviceControlError& e)
+    {
+        LOG(error) << e.what();
+    }
+}
 
 auto DDS::FillChannelContainers() -> void
 {
@@ -176,7 +177,8 @@ auto DDS::SubscribeForConnectingChannels() -> void
 {
     fDDSKeyValue.subscribe([&] (const string& propertyId, const string& key, const string& value)
     {
-        try {
+        try
+        {
             LOG(debug) << "Received update for " << propertyId << ": key=" << key << " value=" << value;
             fConnectingChans.at(propertyId).fDDSValues.insert(make_pair<string, string>(key.c_str(), value.c_str()));
 
@@ -201,7 +203,8 @@ auto DDS::SubscribeForConnectingChannels() -> void
                     ++mi;
                 }
             }
-        } catch (const exception& e)
+        }
+        catch (const exception& e)
         {
             LOG(error) << "Error on handling DDS property update for " << propertyId << ": key=" << key << " value=" << value << ": " << e.what();
         }
@@ -222,20 +225,24 @@ auto DDS::PublishBoundChannels() -> void
     }
 }
 
-auto DDS::Heartbeat(const boost::system::error_code&) -> void
+auto DDS::HeartbeatSender() -> void
 {
     string id = GetProperty<string>("id");
     string pid(to_string(getpid()));
 
+    while (!fDeviceTerminationRequested)
+    {
         {
             lock_guard<mutex> lock{fHeartbeatSubscriberMutex};
 
-        for (const auto subscriberId : fHeartbeatSubscribers) {
+            for (const auto subscriberId : fHeartbeatSubscribers)
+            {
                 fDDSCustomCmd.send("heartbeat: " + id + "," + pid, to_string(subscriberId));
             }
         }
-    fHeartbeatTimer.expires_at(fHeartbeatTimer.expires_at() + fHeartbeatInterval);
-    fHeartbeatTimer.async_wait(bind(&DDS::Heartbeat, this, placeholders::_1));
+
+        this_thread::sleep_for(chrono::milliseconds(fHeartbeatInterval));
+    }
 }
 
 auto DDS::SubscribeForCustomCommands() -> void
@@ -342,8 +349,10 @@ DDS::~DDS()
         fControllerThread.join();
     }
 
-    fIos.stop();
-    fIosWorkerThread.join();
+    if (fHeartbeatThread.joinable())
+    {
+        fHeartbeatThread.join();
+    }
 }
 
 } /* namespace plugins */

fairmq/plugins/DDS/DDS.h

@@ -21,7 +21,6 @@
 #include <vector>
 #include <unordered_map>
 #include <set>
-#include <boost/asio.hpp>
 #include <chrono>
 #include <functional>
 
@@ -61,7 +60,7 @@ class DDS : public Plugin
     auto PublishBoundChannels() -> void;
     auto SubscribeForCustomCommands() -> void;
 
-    auto Heartbeat(const boost::system::error_code&) -> void;
+    auto HeartbeatSender() -> void;
 
     dds::intercom_api::CIntercomService fService;
     dds::intercom_api::CCustomCmd fDDSCustomCmd;
@@ -87,10 +86,7 @@ class DDS : public Plugin
     std::set<uint64_t> fStateChangeSubscribers;
     std::mutex fStateChangeSubscriberMutex;
 
-    boost::asio::io_service fIos;
-    boost::asio::io_service::work fIosWork;
-    std::thread fIosWorkerThread;
-    boost::asio::basic_waitable_timer<std::chrono::steady_clock> fHeartbeatTimer;
+    std::thread fHeartbeatThread;
     std::chrono::milliseconds fHeartbeatInterval;
 };