Add Lock-free Queue (backport #253) (#270)

.github/workflows/jazzy-binary-build-win.yml

@@ -32,3 +32,4 @@ jobs:
       ros_distro: jazzy
       ref_for_scheduled_build: jazzy
       os_name: windows-2019
+      install_boost: true

.github/workflows/rolling-binary-build-win.yml

@@ -29,6 +29,7 @@ jobs:
     #   (github.event_name == 'workflow_dispatch')
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-ros-tooling-win-build.yml@master
     with:
-      ros_distro: jazzy
+      ros_distro: jazzy # no pre-compiled rolling version is available
       ref_for_scheduled_build: master
       os_name: windows-2019
+      install_boost: true

CMakeLists.txt

@@ -30,6 +30,14 @@ foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
   find_package(${Dependency} REQUIRED)
 endforeach()
 
+if(POLICY CMP0167)
+  cmake_policy(SET CMP0167 NEW)
+endif()
+find_package(Boost COMPONENTS headers)
+if(NOT Boost_headers_FOUND)
+  find_package(Boost REQUIRED)
+endif()
+
 add_library(realtime_tools SHARED
   src/realtime_clock.cpp
   src/realtime_helpers.cpp
@@ -74,6 +82,15 @@ if(BUILD_TESTING)
   ament_add_gmock(realtime_buffer_tests test/realtime_buffer_tests.cpp)
   target_link_libraries(realtime_buffer_tests realtime_tools)
 
+  ament_add_gmock(lock_free_queue_tests test/lock_free_queue_tests.cpp)
+  if(WIN32)
+    # atomic is not found on Windows, but also not needed
+    target_link_libraries(lock_free_queue_tests realtime_tools Boost::boost)
+  else()
+    # without adding atomic, clang throws a linker error
+    target_link_libraries(lock_free_queue_tests realtime_tools atomic Boost::boost)
+  endif()
+
   ament_add_gmock(realtime_clock_tests test/realtime_clock_tests.cpp)
   target_link_libraries(realtime_clock_tests realtime_tools)
 

include/realtime_tools/lock_free_queue.hpp

@@ -0,0 +1,333 @@
+// Copyright 2025 PAL Robotics S.L.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+/// \author Sai Kishor Kothakota
+
+#ifndef REALTIME_TOOLS__LOCK_FREE_QUEUE_HPP_
+#define REALTIME_TOOLS__LOCK_FREE_QUEUE_HPP_
+
+#include <chrono>
+#include <mutex>
+#include <type_traits>
+#include <utility>
+
+#include <boost/lockfree/queue.hpp>
+#include <boost/lockfree/spsc_queue.hpp>
+#include <boost/lockfree/stack.hpp>
+
+namespace
+{
+// Trait to check if the capacity is set
+template <typename T>
+struct has_capacity : std::false_type
+{
+};
+
+template <typename T, std::size_t Capacity>
+struct has_capacity<boost::lockfree::spsc_queue<T, boost::lockfree::capacity<Capacity>>>
+: std::true_type
+{
+};
+
+template <typename T, std::size_t Capacity>
+struct has_capacity<boost::lockfree::queue<T, boost::lockfree::capacity<Capacity>>> : std::true_type
+{
+};
+
+template <typename T, std::size_t Capacity, bool FixedSize>
+struct has_capacity<boost::lockfree::queue<
+  T, boost::lockfree::capacity<Capacity>, boost::lockfree::fixed_sized<FixedSize>>> : std::true_type
+{
+};
+
+// Traits to check if the queue is spsc_queue
+template <typename T>
+struct is_spsc_queue : std::false_type
+{
+};
+
+template <typename T>
+struct is_spsc_queue<boost::lockfree::spsc_queue<T>> : std::true_type
+{
+};
+
+template <typename T, std::size_t Capacity>
+struct is_spsc_queue<boost::lockfree::spsc_queue<T, boost::lockfree::capacity<Capacity>>>
+: std::true_type
+{
+};
+
+// Traits to get the capacity of the queue
+// Default case: no capacity
+template <typename T>
+struct get_boost_lockfree_queue_capacity
+{
+  static constexpr std::size_t value = 0;  // Default to 0 if capacity is not defined
+};
+
+// Specialization for queues with capacity
+template <typename T, std::size_t Capacity>
+struct get_boost_lockfree_queue_capacity<
+  boost::lockfree::spsc_queue<T, boost::lockfree::capacity<Capacity>>>
+{
+  static constexpr std::size_t value = Capacity;
+};
+
+// Specialization for queues with capacity
+template <typename T, std::size_t Capacity>
+struct get_boost_lockfree_queue_capacity<
+  boost::lockfree::queue<T, boost::lockfree::capacity<Capacity>>>
+{
+  static constexpr std::size_t value = Capacity;
+};
+
+// Specialization for queues with capacity
+template <typename T, std::size_t Capacity, bool FixedSize>
+struct get_boost_lockfree_queue_capacity<boost::lockfree::queue<
+  T, boost::lockfree::capacity<Capacity>, boost::lockfree::fixed_sized<FixedSize>>>
+{
+  static constexpr std::size_t value = Capacity;
+};
+
+}  // namespace
+
+namespace realtime_tools
+{
+template <typename DataType, typename LockFreeContainer>
+class LockFreeQueueBase
+/**
+ * @brief A base class for lock-free queues.
+ *
+ * This class provides a base implementation for lock-free queues with various functionalities
+ * such as pushing, popping, and checking the state of the queue. It supports both single-producer
+ * single-consumer (SPSC) and multiple-producer multiple-consumer (MPMC) queues.
+ *
+ * @tparam DataType The type of data to be stored in the queue.
+ * @tparam LockFreeContainer The underlying lock-free container type - Typically boost::lockfree::spsc_queue or boost::lockfree::queue with their own template parameters
+ */
+{
+public:
+  using T = DataType;
+
+  /**
+   * @brief Construct a new LockFreeQueueBase object
+   * @note This constructor is enabled only if the LockFreeContainer has a capacity set
+   */
+  template <
+    bool HasCapacity = has_capacity<LockFreeContainer>::value,
+    typename std::enable_if_t<HasCapacity, int> = 0>
+  LockFreeQueueBase() : capacity_(get_boost_lockfree_queue_capacity<LockFreeContainer>::value)
+  {
+  }
+
+  /**
+   * @brief Construct a new LockFreeQueueBase object
+   * @param capacity Capacity of the queue
+   * @note This constructor is enabled only if the LockFreeContainer has no capacity set
+   */
+  template <
+    bool HasCapacity = has_capacity<LockFreeContainer>::value,
+    typename std::enable_if_t<!HasCapacity, int> = 1>
+  explicit LockFreeQueueBase(std::size_t capacity) : data_queue_(capacity), capacity_(capacity)
+  {
+  }
+
+  virtual ~LockFreeQueueBase() = default;
+
+  /**
+   * @brief Pop the data from the queue
+   * @param data Data to be popped
+   * @return true If the data is popped successfully
+   * @return false If the queue is empty or the data could not be popped
+   */
+  [[nodiscard]] bool pop(T & data) { return data_queue_.pop(data); }
+
+  /**
+   * @brief Pop the data from the queue
+   * @param data Data to be popped
+   * @return true If the data is popped successfully
+   * @return false If the queue is empty or the data could not be popped
+   * @note This function is enabled only if the data type is convertible to the template type of the queue
+   */
+  template <typename U>
+  [[nodiscard]] std::enable_if_t<std::is_convertible_v<T, U>, bool> pop(U & data)
+  {
+    return data_queue_.pop(data);
+  }
+
+  /**
+   * @brief Push the data into the queue
+   * @param data Data to be pushed
+   * @return true If the data is pushed successfully
+   * @return false If the queue is full or the data could not be pushed
+   */
+
+  [[nodiscard]] bool push(const T & data)
+  {
+    if constexpr (is_spsc_queue<LockFreeContainer>::value) {
+      return data_queue_.push(data);
+    } else {
+      return data_queue_.bounded_push(data);
+    }
+  }
+
+  /**
+   * @brief Push the data into the queue
+   * @param data Data to be pushed
+   * @return true If the data is pushed successfully
+   * @return false If the queue is full or the data could not be pushed
+   * @note This function is enabled only if the data type is convertible to the template type of the queue
+   */
+  template <typename U>
+  [[nodiscard]] std::enable_if_t<std::is_convertible_v<T, U>, bool> push(const U & data)
+  {
+    if constexpr (is_spsc_queue<LockFreeContainer>::value) {
+      return data_queue_.push(data);
+    } else {
+      return data_queue_.bounded_push(data);
+    }
+  }
+
+  /**
+   * @brief The bounded_push function pushes the data into the queue and pops the oldest data if the queue is full
+   * @param data Data to be pushed
+   * @return true If the data is pushed successfully
+   * @return false If the data could not be pushed
+   * @note This function is enabled only if the queue is a spsc_queue and only if the data type
+   * is convertible to the template type of the queue
+   * @note For a SPSC Queue, to be used in single-threaded applications
+   * @warning For a SPSC Queue, this method might not work as expected when used in multi-threaded applications
+   * if it is used with two different threads, one doing bounded_push and the other doing pop. In this case, the
+   * queue is no longer a single producer single consumer queue. So, the behavior might not be as expected.
+   */
+  template <typename U>
+  [[nodiscard]] std::enable_if_t<std::is_convertible_v<T, U>, bool> bounded_push(const U & data)
+  {
+    if (!push(data)) {
+      T dummy;
+      data_queue_.pop(dummy);
+      return push(data);
+    }
+    return true;
+  }
+
+  /**
+   * @brief Get the latest data from the queue
+   * @param data Data to be filled with the latest data
+   * @return true If the data is filled with the latest data, false otherwise
+   * @return false If the queue is empty
+   * @note This function consumes all the data in the queue until the last data and returns the last element of the queue
+   */
+  [[nodiscard]] bool get_latest(T & data)
+  {
+    return data_queue_.consume_all([&data](const T & d) { data = d; }) > 0;
+  }
+
+  /**
+   * @brief Check if the queue is empty
+   * @return true If the queue is empty
+   * @return false If the queue is not empty
+   * @note The result is only accurate, if no other thread modifies the queue. Therefore, it is rarely practical to use this value in program logic.
+   * @note For a SPSC Queue, it should only be called from the consumer thread where pop is called. If need to be called from producer thread, use write_available() instead.
+   */
+  bool empty() const
+  {
+    if constexpr (is_spsc_queue<LockFreeContainer>::value) {
+      return data_queue_.read_available() == 0;
+    } else {
+      return data_queue_.empty();
+    }
+  }
+
+  /**
+   * @brief Get the capacity of the queue
+   * @return std::size_t Capacity of the queue
+   */
+  size_t capacity() const { return capacity_; }
+
+  /**
+   * @brief Get the size of the queue
+   * @return std::size_t Size of the queue
+   * @note This function is enabled only if the queue is a spsc_queue
+   */
+  template <
+    bool IsSPSCQueue = is_spsc_queue<LockFreeContainer>::value,
+    typename std::enable_if_t<IsSPSCQueue, int> = 0>
+  std::size_t size() const
+  {
+    return data_queue_.read_available();
+  }
+
+  /**
+   * @brief The method to check if the queue is lock free
+   * @return true If the queue is lock free, false otherwise
+   * @warning It only checks, if the queue head and tail nodes and the freelist can
+   * be modified in a lock-free manner. On most platforms, the whole implementation
+   * is lock-free, if this is true. Using c++0x-style atomics, there is no possibility
+   * to provide a completely accurate implementation, because one would need to test
+   * every internal node, which is impossible if further nodes will be allocated from
+   * the operating system.
+   * @link https://www.boost.org/doc/libs/1_74_0/doc/html/boost/lockfree/queue.html
+   */
+  bool is_lock_free() const
+  {
+    return (is_spsc_queue<LockFreeContainer>::value) || data_queue_.is_lock_free();
+  }
+
+  /**
+   * @brief Get the lockfree container
+   * @return const LockFreeContainer& Reference to the lockfree container
+   */
+  const LockFreeContainer & get_lockfree_container() const { return data_queue_; }
+
+  /**
+   * @brief Get the lockfree container
+   * @return LockFreeContainer& Reference to the lockfree container
+   */
+  LockFreeContainer & get_lockfree_container() { return data_queue_; }
+
+private:
+  LockFreeContainer data_queue_;
+  std::size_t capacity_;
+};  // class
+
+/**
+ * @brief Lock-free Single Producer Single Consumer Queue
+ * @tparam DataType Type of the data to be stored in the queue
+ * @tparam Capacity Capacity of the queue
+ */
+template <class DataType, std::size_t Capacity = 0>
+using LockFreeSPSCQueue = std::conditional_t<
+  Capacity == 0, LockFreeQueueBase<DataType, boost::lockfree::spsc_queue<DataType>>,
+  LockFreeQueueBase<
+    DataType, boost::lockfree::spsc_queue<DataType, boost::lockfree::capacity<Capacity>>>>;
+
+/**
+ * @brief Lock-free Multiple Producer Multiple Consumer Queue
+ * @tparam DataType Type of the data to be stored in the queue
+ * @tparam Capacity Capacity of the queue
+ * @tparam FixedSize Fixed size of the queue
+ */
+template <class DataType, std::size_t Capacity = 0, bool FixedSize = true>
+using LockFreeMPMCQueue = std::conditional_t<
+  Capacity == 0,
+  LockFreeQueueBase<
+    DataType, boost::lockfree::queue<DataType, boost::lockfree::fixed_sized<FixedSize>>>,
+  LockFreeQueueBase<
+    DataType,
+    boost::lockfree::queue<
+      DataType, boost::lockfree::capacity<Capacity>, boost::lockfree::fixed_sized<FixedSize>>>>;
+
+}  // namespace realtime_tools
+#endif  // REALTIME_TOOLS__LOCK_FREE_QUEUE_HPP_

package.xml

@@ -19,6 +19,7 @@
 
   <buildtool_export_depend>ament_cmake</buildtool_export_depend>
 
+  <depend>libboost-dev</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_action</depend>
   <depend>libcap-dev</depend>