fix: replace uint32_t for pid_t for process ids (#345)

Signed-off-by: veqcc <ryuta.kambe@tier4.jp>
tier4 · Feb 3, 2025 · 349fc00 · 349fc00
1 parent 4c9fbc9
commit 349fc00
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Showing 7 changed files with 14 additions and 14 deletions.
diff --git a/kmod/agnocast.c b/kmod/agnocast.c
@@ -1481,7 +1481,7 @@ static void pre_handler_publisher_exit(struct topic_wrapper * wrapper, const pid
 #define EXIT_QUEUE_SIZE_BITS 10  // arbitrary size
 #define EXIT_QUEUE_SIZE (1U << EXIT_QUEUE_SIZE_BITS)
 static DEFINE_SPINLOCK(pid_queue_lock);
-static uint32_t exit_pid_queue[EXIT_QUEUE_SIZE];
+static pid_t exit_pid_queue[EXIT_QUEUE_SIZE];
 static uint32_t queue_head;
 static uint32_t queue_tail;
 

diff --git a/src/agnocastlib/include/agnocast_mq.hpp b/src/agnocastlib/include/agnocast_mq.hpp
@@ -7,7 +7,7 @@ namespace agnocast
 
 struct MqMsgNewPublisher
 {
-  uint32_t publisher_pid;
+  pid_t publisher_pid;
   uint64_t shm_addr;
   uint64_t shm_size;
 };

diff --git a/src/agnocastlib/include/agnocast_subscription.hpp b/src/agnocastlib/include/agnocast_subscription.hpp
@@ -27,7 +27,7 @@
 namespace agnocast
 {
 
-void map_read_only_area(const uint32_t pid, const uint64_t shm_addr, const uint64_t shm_size);
+void map_read_only_area(const pid_t pid, const uint64_t shm_addr, const uint64_t shm_size);
 
 struct SubscriptionOptions
 {

diff --git a/src/agnocastlib/include/agnocast_utils.hpp b/src/agnocastlib/include/agnocast_utils.hpp
@@ -12,8 +12,8 @@ extern rclcpp::Logger logger;
 
 void validate_ld_preload();
 std::string create_mq_name(const std::string & topic_name, const topic_local_id_t id);
-std::string create_shm_name(const uint32_t pid);
-std::string create_mq_name_new_publisher(const uint32_t pid);
+std::string create_shm_name(const pid_t pid);
+std::string create_mq_name_new_publisher(const pid_t pid);
 uint64_t agnocast_get_timestamp();
 
 }  // namespace agnocast
diff --git a/src/agnocastlib/src/agnocast.cpp b/src/agnocastlib/src/agnocast.cpp
@@ -26,10 +26,10 @@ bool ok()
   return is_running.load();
 }
 
-bool already_mapped(const uint32_t pid)
+bool already_mapped(const pid_t pid)
 {
   static pthread_mutex_t mapped_pid_mtx = PTHREAD_MUTEX_INITIALIZER;
-  static std::set<uint32_t> mapped_publisher_pids;
+  static std::set<pid_t> mapped_publisher_pids;
 
   pthread_mutex_lock(&mapped_pid_mtx);
   const bool inserted = mapped_publisher_pids.insert(pid).second;
@@ -39,7 +39,7 @@ bool already_mapped(const uint32_t pid)
 }
 
 void * map_area(
-  const uint32_t pid, const uint64_t shm_addr, const uint64_t shm_size, const bool writable)
+  const pid_t pid, const uint64_t shm_addr, const uint64_t shm_size, const bool writable)
 {
   const std::string shm_name = create_shm_name(pid);
 
@@ -79,7 +79,7 @@ void * map_area(
   return ret;
 }
 
-void * map_writable_area(const uint32_t pid, const uint64_t shm_addr, const uint64_t shm_size)
+void * map_writable_area(const pid_t pid, const uint64_t shm_addr, const uint64_t shm_size)
 {
   if (already_mapped(pid)) {
     RCLCPP_ERROR(logger, "map_writeable_area failed");
@@ -90,7 +90,7 @@ void * map_writable_area(const uint32_t pid, const uint64_t shm_addr, const uint
   return map_area(pid, shm_addr, shm_size, true);
 }
 
-void map_read_only_area(const uint32_t pid, const uint64_t shm_addr, const uint64_t shm_size)
+void map_read_only_area(const pid_t pid, const uint64_t shm_addr, const uint64_t shm_size)
 {
   if (already_mapped(pid)) {
     return;

diff --git a/src/agnocastlib/src/agnocast_subscription.cpp b/src/agnocastlib/src/agnocast_subscription.cpp
@@ -58,7 +58,7 @@ static void wait_for_new_publisher(const pid_t subscriber_pid)
         exit(EXIT_FAILURE);
       }
 
-      const uint32_t publisher_pid = mq_msg.publisher_pid;
+      const pid_t publisher_pid = mq_msg.publisher_pid;
       const uint64_t publisher_shm_addr = mq_msg.shm_addr;
       const uint64_t publisher_shm_size = mq_msg.shm_size;
       map_read_only_area(publisher_pid, publisher_shm_addr, publisher_shm_size);
@@ -96,7 +96,7 @@ union ioctl_subscriber_args SubscriptionBase::initialize(bool is_take_sub)
       continue;
     }
 
-    const uint32_t pid = subscriber_args.ret_publisher_pids[i];
+    const pid_t pid = subscriber_args.ret_publisher_pids[i];
     const uint64_t addr = subscriber_args.ret_shm_addrs[i];
     const uint64_t size = subscriber_args.ret_shm_sizes[i];
     map_read_only_area(pid, addr, size);

diff --git a/src/agnocastlib/src/agnocast_utils.cpp b/src/agnocastlib/src/agnocast_utils.cpp
@@ -40,12 +40,12 @@ std::string create_mq_name(const std::string & topic_name, const topic_local_id_
   return mq_name;
 }
 
-std::string create_shm_name(const uint32_t pid)
+std::string create_shm_name(const pid_t pid)
 {
   return "/agnocast@" + std::to_string(pid);
 }
 
-std::string create_mq_name_new_publisher(const uint32_t pid)
+std::string create_mq_name_new_publisher(const pid_t pid)
 {
   return "/new_publisher@" + std::to_string(pid);
 }