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ahundt/AzmqTest.cpp

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azmq fast send crash
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azmqFlatBufferTest_simplified.cpp
//
// echo_server.cpp
// ~~~~~~~~~~~~~~~
//
// Copyright (c) 2003-2014 Christopher M. Kohlhoff (chris at kohlhoff dot com)
// Copyright (c) 2015 Andrew Hundt
//
// Distributed under the Boost Software License, Version 1.0. (See accompanying
// file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
//
//#include "grl/AzmqFlatbuffer.hpp"
//#include "grl/flatbuffer/Geometry_generated.h"
//#include "grl/flatbuffer/VrepControlPoint_generated.h"
//#include "grl/flatbuffer/VrepPath_generated.h"
#include "flatbuffers/flatbuffers.h"
#include <mutex>
#include <iostream>
#include <memory>
#include <thread>
#include <boost/asio.hpp>
#include <boost/asio/io_service.hpp>
#include <boost/asio/ip/tcp.hpp>
#include <boost/asio/spawn.hpp>
#include <boost/asio/steady_timer.hpp>
#include <boost/asio/write.hpp>
#include <boost/asio/signal_set.hpp>
#include <boost/circular_buffer.hpp>
#include <boost/container/static_vector.hpp>
#include <azmq/socket.hpp>
#include <flatbuffers/flatbuffers.h>
/// @brief sends and receives flatbuffer data via AZMQ implementation of ZeroMQ plus manages the relevant buffers
///
/// Sending: This class provides a mechanism to asynchronously send google flatbuffers.
/// It also stores a pool of these buffers so that they don't need to be reallocated.
///
/// Rationale: FlatBufferBuilders are much faster if they are reused
/// so we create a small pool of them that you can get from this object
/// after you send a flat buffer, the builder is put into the pool
///
/// @todo the buffer pools may be a premature optimization. Evaluate this.
class AzmqFlatbuffer : public std::enable_shared_from_this<AzmqFlatbuffer>
{
public:
static const int default_circular_buffer_size = 10;
/// @todo Consider making this a simple std::vector so it is runtime configurable
typedef std::shared_ptr<boost::container::static_vector<uint8_t,256>> receive_buffer_type;
/// Initialize AzmqFlatbuffer with a socket.
/// The socket should be fully configured
/// and ready to use when it is passed to this object.
/// We also recommend the user utilizes AzmqFlatbuffer(std::move(socket))
/// when calling this constructor.
/// @see AzmqFlatbufferTest for an example of usage.
///
/// @todo consider making default_circular_buffer_size and receive_buffer_type configurable
explicit AzmqFlatbuffer(azmq::socket socket)
: socket_(std::move(socket)),
strand_(socket_.get_io_service()),
unusedFlatBufferBuilders_(default_circular_buffer_size),
unusedReceiveBuffers_(default_circular_buffer_size),
receiveBuffersWithData_(default_circular_buffer_size),
doneReceiving_(true)
{
for (int i = 0; i<default_circular_buffer_size; ++i) {
unusedFlatBufferBuilders_.push_back(std::make_shared<flatbuffers::FlatBufferBuilder>());
unusedReceiveBuffers_.push_back(std::make_shared<receive_buffer_type::element_type>());
}
}
/// Send a FlatbufferBuilder to the destination specified in the socket.
/// @todo make it so FlatBufferBuilders can be used directly without shared_ptr overhead.
///
/// @pre there are no other instances of fbbP (reference count of the shared_ptr should be 1)
///
/// @note the FlatBufferBuilder is automatically put back into the pool internal to this class after sending
void async_send_flatbuffer(std::shared_ptr<flatbuffers::FlatBufferBuilder> fbbP)
{
auto self(shared_from_this());
socket_.async_send(boost::asio::buffer(fbbP->GetBufferPointer(), fbbP->GetSize()), [this,self,fbbP] (boost::system::error_code const& ec, size_t bytes_transferred) {
if(ec) std::cout << "SendFlatBuffer error! todo: figure out how to handle this\n";
std::lock_guard<std::mutex> lock(this->unusedFlatBufferBuildersLock_);
fbbP->Clear();
this->unusedFlatBufferBuilders_.push_back(fbbP);
});
}
void shutdown(azmq::socket::shutdown_type sd,boost::system::error_code& ec){
socket_.shutdown(sd,ec);
}
void cancel(){
socket_.cancel();
}
/// destructor
/// @todo maybe do something useful with the error code from shutting down the socket?
~AzmqFlatbuffer(){
boost::system::error_code ec;
socket_.cancel();
socket_.shutdown(azmq::socket::shutdown_type::send,ec);
socket_.shutdown(azmq::socket::shutdown_type::receive,ec);
}
/// get a google FlatBufferBuilder object from the pool of unused objects
std::shared_ptr<flatbuffers::FlatBufferBuilder> GetUnusedBufferBuilder(){
std::lock_guard<std::mutex> lock(this->unusedFlatBufferBuildersLock_);
std::shared_ptr<flatbuffers::FlatBufferBuilder> back;
if (!unusedFlatBufferBuilders_.empty()) {
back = unusedFlatBufferBuilders_.back();
unusedFlatBufferBuilders_.pop_back();
} else {
/// @todo eliminate the need for this extra allocation, though this may be premature optimization
back = std::make_shared<flatbuffers::FlatBufferBuilder>();
}
return back;
}
/// Initializes the process of receiving
/// buffers from the source specified
/// by the azmq::socket taht was provided.
/// This initializes a loop that will continuously
/// read data and fill out the internal ring buffer
/// for users to extract. This allows this class to
/// run asynchronously while interacting with
/// synchronous users.
void start_async_receive_buffers(){
if(doneReceiving_){
doneReceiving_=false;
next_async_receive_buffers();
}
}
private:
/// read the next set of data from the zeromq interface in a loop.
/// This relies on the io_service for the loop, so that the stack
/// doesn't get used up.
///
/// @todo When the receiveBuffersWithData buffer is full, consider moving the oldest buffer to the "unused" buffer to save allocations.
void next_async_receive_buffers(){
receive_buffer_type rbP;
{ // this bracket is important so the lock is released ASAP
std::lock_guard<std::mutex> lock(receiveBuffersLock_);
if (!unusedReceiveBuffers_.empty()) {
rbP = unusedReceiveBuffers_.back();
unusedReceiveBuffers_.pop_back();
} else {
/// @todo eliminate the need for this extra allocation
rbP = std::make_shared<receive_buffer_type::element_type>();
}
}
// use the full capacity of the buffer
rbP->resize(rbP->capacity());
auto self(shared_from_this());
socket_.async_receive(boost::asio::buffer(&(rbP->begin()[0]),rbP->size()), [this,self,rbP](boost::system::error_code const ec, size_t bytes_transferred) {
if(ec) std::cout << "start_async_receive_buffers error! todo: figure out how to handle this\n";
// make rbp the size of the actual amount of data read
rbP->resize(std::min(bytes_transferred,rbP->capacity()));
std::lock_guard<std::mutex> lock(receiveBuffersLock_);
self->receiveBuffersWithData_.push_back(rbP);
// run this function again *after* it returns
if(!doneReceiving_) socket_.get_io_service().post(std::bind(&AzmqFlatbuffer::next_async_receive_buffers,this));
});
}
public:
/// Stop receiving buffers
void stop_async_receive_buffers(){
doneReceiving_ = true;
}
/// @return true if there are no buffers that have been received via the socket, false otherwise
bool receive_buffers_empty(){
std::lock_guard<std::mutex> lock(receiveBuffersLock_);
return receiveBuffersWithData_.empty();
}
/// @return The number of incoming buffers stored
std::size_t receive_buffers_size(){
std::lock_guard<std::mutex> lock(receiveBuffersLock_);
return receiveBuffersWithData_.size();
}
/// @return The number of possible incoming buffers that can be stored
std::size_t receive_buffers_capacity(){
std::lock_guard<std::mutex> lock(receiveBuffersLock_);
return receiveBuffersWithData_.capacity();
}
/// Inserts a range of values into the available receive buffers
///
/// @pre p must be a valid iterator of *this in range [begin(), end()].
/// @pre distance(first, last) <= capacity()
/// @pre Iterator must meet the ForwardTraversalIterator concept.
template<typename T>
void insert_unused_receive_buffers(T& range){
std::lock_guard<std::mutex> lock(receiveBuffersLock_);
unusedReceiveBuffers_.insert(unusedFlatBufferBuilders_.end(), range.begin(), range.end());
}
/// Put an unused buffer, or one that is no longer needed, back into the pool
void push_back_unused_receive_buffer(receive_buffer_type rb){
std::lock_guard<std::mutex> lock(receiveBuffersLock_);
unusedReceiveBuffers_.push_back(rb);
}
/// get the last, aka most chronologically recent, incoming buffer from the pool
receive_buffer_type get_back_receive_buffer_with_data(){
receive_buffer_type rbP;
std::lock_guard<std::mutex> lock(receiveBuffersLock_);
if (!receiveBuffersWithData_.empty()) {
rbP = receiveBuffersWithData_.back();
receiveBuffersWithData_.pop_back();
}
return rbP;
}
/// get the first, aka the chronologically oldest, incoming buffer from the pool
receive_buffer_type get_front_receive_buffer_with_data(){
receive_buffer_type rbP;
std::lock_guard<std::mutex> lock(receiveBuffersLock_);
if (!receiveBuffersWithData_.empty()) {
rbP = unusedReceiveBuffers_.front();
receiveBuffersWithData_.pop_front();
}
return rbP;
}
/// @brief Get all buffers from the pool at once and put them in an OutputIterator. This reduces locking/unlocking substantially.
template<typename OutputIterator>
void get_all_receive_buffers_with_data(OutputIterator it){
std::lock_guard<std::mutex> lock(receiveBuffersLock_);
std::copy(receiveBuffersWithData_.begin(), receiveBuffersWithData_.end(), it);
receiveBuffersWithData_.clear();
}
private:
/// @todo may need to create io_service::work object here to keep io_service from exiting run() call
azmq::socket socket_;
boost::asio::io_service::strand strand_;
/// @todo it is a bit unsafe to use shared pointers, but I'm not sure if it is possible to std::move FlatBufferBuilders themselves, or unique ptrs into lambda functions
boost::circular_buffer<std::shared_ptr<flatbuffers::FlatBufferBuilder>> unusedFlatBufferBuilders_;
std::mutex unusedFlatBufferBuildersLock_;
boost::circular_buffer<receive_buffer_type> unusedReceiveBuffers_;
boost::circular_buffer<receive_buffer_type> receiveBuffersWithData_;
std::mutex receiveBuffersLock_;
std::atomic<bool> doneReceiving_;
};
namespace grl {
namespace flatbuffer {
struct Vector3d;
struct EulerXYZd;
struct Quaternion;
MANUALLY_ALIGNED_STRUCT(8) Vector3d {
private:
double x_;
double y_;
double z_;
public:
Vector3d(double x, double y, double z)
: x_(flatbuffers::EndianScalar(x)), y_(flatbuffers::EndianScalar(y)), z_(flatbuffers::EndianScalar(z)) { }
double x() const { return flatbuffers::EndianScalar(x_); }
double y() const { return flatbuffers::EndianScalar(y_); }
double z() const { return flatbuffers::EndianScalar(z_); }
};
STRUCT_END(Vector3d, 24);
MANUALLY_ALIGNED_STRUCT(8) EulerXYZd {
private:
double rx_;
double ry_;
double rz_;
public:
EulerXYZd(double rx, double ry, double rz)
: rx_(flatbuffers::EndianScalar(rx)), ry_(flatbuffers::EndianScalar(ry)), rz_(flatbuffers::EndianScalar(rz)) { }
double rx() const { return flatbuffers::EndianScalar(rx_); }
double ry() const { return flatbuffers::EndianScalar(ry_); }
double rz() const { return flatbuffers::EndianScalar(rz_); }
};
STRUCT_END(EulerXYZd, 24);
MANUALLY_ALIGNED_STRUCT(8) Quaternion {
private:
double x_;
double y_;
double z_;
double w_;
public:
Quaternion(double x, double y, double z, double w)
: x_(flatbuffers::EndianScalar(x)), y_(flatbuffers::EndianScalar(y)), z_(flatbuffers::EndianScalar(z)), w_(flatbuffers::EndianScalar(w)) { }
double x() const { return flatbuffers::EndianScalar(x_); }
double y() const { return flatbuffers::EndianScalar(y_); }
double z() const { return flatbuffers::EndianScalar(z_); }
double w() const { return flatbuffers::EndianScalar(w_); }
};
STRUCT_END(Quaternion, 32);
} // namespace flatbuffer
} // namespace grl
namespace grl {
namespace flatbuffer {
struct Vector3d;
struct EulerXYZd;
struct Quaternion;
} // namespace flatbuffer
} // namespace grl
namespace grl {
namespace flatbuffer {
struct VrepControlPoint;
struct VrepControlPoint : private flatbuffers::Table {
const grl::flatbuffer::Vector3d *position() const { return GetStruct<const grl::flatbuffer::Vector3d *>(4); }
const grl::flatbuffer::EulerXYZd *rotation() const { return GetStruct<const grl::flatbuffer::EulerXYZd *>(6); }
double relativeVelocity() const { return GetField<double>(8, 1.0); }
int32_t bezierPointCount() const { return GetField<int32_t>(10, 1); }
double interpolationFactor1() const { return GetField<double>(12, 0.5); }
double interpolationFactor2() const { return GetField<double>(14, 0.5); }
double virtualDistance() const { return GetField<double>(16, 0.0); }
int32_t auxiliaryFlags() const { return GetField<int32_t>(18, 0); }
double auxiliaryChannel1() const { return GetField<double>(20, 0.0); }
double auxiliaryChannel2() const { return GetField<double>(22, 0.0); }
double auxiliaryChannel3() const { return GetField<double>(24, 0.0); }
double auxiliaryChannel4() const { return GetField<double>(26, 0.0); }
bool Verify(flatbuffers::Verifier &verifier) const {
return VerifyTableStart(verifier) &&
VerifyField<grl::flatbuffer::Vector3d>(verifier, 4 /* position */) &&
VerifyField<grl::flatbuffer::EulerXYZd>(verifier, 6 /* rotation */) &&
VerifyField<double>(verifier, 8 /* relativeVelocity */) &&
VerifyField<int32_t>(verifier, 10 /* bezierPointCount */) &&
VerifyField<double>(verifier, 12 /* interpolationFactor1 */) &&
VerifyField<double>(verifier, 14 /* interpolationFactor2 */) &&
VerifyField<double>(verifier, 16 /* virtualDistance */) &&
VerifyField<int32_t>(verifier, 18 /* auxiliaryFlags */) &&
VerifyField<double>(verifier, 20 /* auxiliaryChannel1 */) &&
VerifyField<double>(verifier, 22 /* auxiliaryChannel2 */) &&
VerifyField<double>(verifier, 24 /* auxiliaryChannel3 */) &&
VerifyField<double>(verifier, 26 /* auxiliaryChannel4 */) &&
verifier.EndTable();
}
};
struct VrepControlPointBuilder {
flatbuffers::FlatBufferBuilder &fbb_;
flatbuffers::uoffset_t start_;
void add_position(const grl::flatbuffer::Vector3d *position) { fbb_.AddStruct(4, position); }
void add_rotation(const grl::flatbuffer::EulerXYZd *rotation) { fbb_.AddStruct(6, rotation); }
void add_relativeVelocity(double relativeVelocity) { fbb_.AddElement<double>(8, relativeVelocity, 1.0); }
void add_bezierPointCount(int32_t bezierPointCount) { fbb_.AddElement<int32_t>(10, bezierPointCount, 1); }
void add_interpolationFactor1(double interpolationFactor1) { fbb_.AddElement<double>(12, interpolationFactor1, 0.5); }
void add_interpolationFactor2(double interpolationFactor2) { fbb_.AddElement<double>(14, interpolationFactor2, 0.5); }
void add_virtualDistance(double virtualDistance) { fbb_.AddElement<double>(16, virtualDistance, 0.0); }
void add_auxiliaryFlags(int32_t auxiliaryFlags) { fbb_.AddElement<int32_t>(18, auxiliaryFlags, 0); }
void add_auxiliaryChannel1(double auxiliaryChannel1) { fbb_.AddElement<double>(20, auxiliaryChannel1, 0.0); }
void add_auxiliaryChannel2(double auxiliaryChannel2) { fbb_.AddElement<double>(22, auxiliaryChannel2, 0.0); }
void add_auxiliaryChannel3(double auxiliaryChannel3) { fbb_.AddElement<double>(24, auxiliaryChannel3, 0.0); }
void add_auxiliaryChannel4(double auxiliaryChannel4) { fbb_.AddElement<double>(26, auxiliaryChannel4, 0.0); }
VrepControlPointBuilder(flatbuffers::FlatBufferBuilder &_fbb) : fbb_(_fbb) { start_ = fbb_.StartTable(); }
VrepControlPointBuilder &operator=(const VrepControlPointBuilder &);
flatbuffers::Offset<VrepControlPoint> Finish() {
auto o = flatbuffers::Offset<VrepControlPoint>(fbb_.EndTable(start_, 12));
return o;
}
};
inline flatbuffers::Offset<VrepControlPoint> CreateVrepControlPoint(flatbuffers::FlatBufferBuilder &_fbb,
const grl::flatbuffer::Vector3d *position = 0,
const grl::flatbuffer::EulerXYZd *rotation = 0,
double relativeVelocity = 1.0,
int32_t bezierPointCount = 1,
double interpolationFactor1 = 0.5,
double interpolationFactor2 = 0.5,
double virtualDistance = 0.0,
int32_t auxiliaryFlags = 0,
double auxiliaryChannel1 = 0.0,
double auxiliaryChannel2 = 0.0,
double auxiliaryChannel3 = 0.0,
double auxiliaryChannel4 = 0.0) {
VrepControlPointBuilder builder_(_fbb);
builder_.add_auxiliaryChannel4(auxiliaryChannel4);
builder_.add_auxiliaryChannel3(auxiliaryChannel3);
builder_.add_auxiliaryChannel2(auxiliaryChannel2);
builder_.add_auxiliaryChannel1(auxiliaryChannel1);
builder_.add_virtualDistance(virtualDistance);
builder_.add_interpolationFactor2(interpolationFactor2);
builder_.add_interpolationFactor1(interpolationFactor1);
builder_.add_relativeVelocity(relativeVelocity);
builder_.add_auxiliaryFlags(auxiliaryFlags);
builder_.add_bezierPointCount(bezierPointCount);
builder_.add_rotation(rotation);
builder_.add_position(position);
return builder_.Finish();
}
inline const VrepControlPoint *GetVrepControlPoint(const void *buf) { return flatbuffers::GetRoot<VrepControlPoint>(buf); }
inline bool VerifyVrepControlPointBuffer(flatbuffers::Verifier &verifier) { return verifier.VerifyBuffer<VrepControlPoint>(); }
inline void FinishVrepControlPointBuffer(flatbuffers::FlatBufferBuilder &fbb, flatbuffers::Offset<VrepControlPoint> root) { fbb.Finish(root); }
} // namespace flatbuffer
} // namespace grl
namespace grl {
namespace flatbuffer {
struct Vector3d;
struct EulerXYZd;
struct Quaternion;
} // namespace flatbuffer
} // namespace grl
namespace grl {
namespace flatbuffer {
struct VrepControlPoint;
} // namespace flatbuffer
} // namespace grl
namespace grl {
namespace flatbuffer {
struct VrepPath;
struct VrepPath : private flatbuffers::Table {
const flatbuffers::Vector<flatbuffers::Offset<grl::flatbuffer::VrepControlPoint>> *controlPoints() const { return GetPointer<const flatbuffers::Vector<flatbuffers::Offset<grl::flatbuffer::VrepControlPoint>> *>(4); }
bool Verify(flatbuffers::Verifier &verifier) const {
return VerifyTableStart(verifier) &&
VerifyField<flatbuffers::uoffset_t>(verifier, 4 /* controlPoints */) &&
verifier.Verify(controlPoints()) &&
verifier.VerifyVectorOfTables(controlPoints()) &&
verifier.EndTable();
}
};
struct VrepPathBuilder {
flatbuffers::FlatBufferBuilder &fbb_;
flatbuffers::uoffset_t start_;
void add_controlPoints(flatbuffers::Offset<flatbuffers::Vector<flatbuffers::Offset<grl::flatbuffer::VrepControlPoint>>> controlPoints) { fbb_.AddOffset(4, controlPoints); }
VrepPathBuilder(flatbuffers::FlatBufferBuilder &_fbb) : fbb_(_fbb) { start_ = fbb_.StartTable(); }
VrepPathBuilder &operator=(const VrepPathBuilder &);
flatbuffers::Offset<VrepPath> Finish() {
auto o = flatbuffers::Offset<VrepPath>(fbb_.EndTable(start_, 1));
return o;
}
};
inline flatbuffers::Offset<VrepPath> CreateVrepPath(flatbuffers::FlatBufferBuilder &_fbb,
flatbuffers::Offset<flatbuffers::Vector<flatbuffers::Offset<grl::flatbuffer::VrepControlPoint>>> controlPoints = 0) {
VrepPathBuilder builder_(_fbb);
builder_.add_controlPoints(controlPoints);
return builder_.Finish();
}
inline const VrepPath *GetVrepPath(const void *buf) { return flatbuffers::GetRoot<VrepPath>(buf); }
inline bool VerifyVrepPathBuffer(flatbuffers::Verifier &verifier) { return verifier.VerifyBuffer<VrepPath>(); }
inline void FinishVrepPathBuffer(flatbuffers::FlatBufferBuilder &fbb, flatbuffers::Offset<VrepPath> root) { fbb.Finish(root); }
} // namespace flatbuffer
} // namespace grl
/// Send messages between a client and server asynchronously.
///
/// @see overview of zmq socket types https://sachabarbs.wordpress.com/2014/08/21/zeromq-2-the-socket-types-2/
/// @see bounce is based on https://github.com/zeromq/azmq/blob/master/test/socket/main.cpp
/// @see flatbuffers https://google.github.io/flatbuffers/md__cpp_usage.html
void bounce(std::shared_ptr<AzmqFlatbuffer> sendP, std::shared_ptr<AzmqFlatbuffer> receiveP, bool shouldReceive = true) {
receiveP->start_async_receive_buffers();
for (int x = 0; x<1000; ++x) {
/////////////////////////////////////////
// Client sends to server asynchronously!
{
auto fbbP = sendP->GetUnusedBufferBuilder();
grl::flatbuffer::Vector3d rv(x,0,0);
auto controlPoint = grl::flatbuffer::CreateVrepControlPoint(*fbbP,&rv);
grl::flatbuffer::FinishVrepControlPointBuffer(*fbbP, controlPoint);
sendP->async_send_flatbuffer(fbbP);
}
//////////////////////////////////////////////
// Server receives from client asynchronously!
while (shouldReceive && !receiveP->receive_buffers_empty()) {
auto rbP = receiveP->get_back_receive_buffer_with_data();
auto rbPstart = &(rbP->begin()[0]);
auto verifier = flatbuffers::Verifier(rbPstart,rbP->size());
auto bufOK = grl::flatbuffer::VerifyVrepControlPointBuffer(verifier);
if(bufOK){
const grl::flatbuffer::VrepControlPoint* VCPin = grl::flatbuffer::GetVrepControlPoint(rbPstart);
std::cout << "received: " << VCPin->position()->x() << "\n";
} else {
std::cout << "Failed verification. bufOk: " <<bufOK << "\n";
}
}
//std::this_thread::sleep_for( std::chrono::milliseconds(1) );
}
}
int main(int argc, char* argv[])
{
// try
// {
std::string localhost("127.0.0.1");
std::string localport("9998");
std::string remotehost("127.0.0.1");
std::string remoteport("9998");
std::cout << "argc: " << argc << "\n";
/// @todo add default localhost/localport
if (argc != 5 && argc != 1 && argc != 3)
{
std::cerr << "Usage: " << argv[0] << " <localip> <localport> <remoteip> <remoteport>\n";
return 1;
}
bool shouldReceive = true;
if(argc == 3){
remotehost = std::string(argv[1]);
remoteport = std::string(argv[2]);
shouldReceive = false;
}
if(argc == 5){
localhost = std::string(argv[1]);
localport = std::string(argv[2]);
remotehost = std::string(argv[3]);
remoteport = std::string(argv[4]);
shouldReceive = true;
}
std::cout << "using: " << argv[0] << " ";
if(shouldReceive) std::cout << localhost << " " << localport << " ";
std::cout << remotehost << " " << remoteport << "\n";
boost::asio::io_service io_service;
// Register signal handlers so that the daemon may be shut down when a signal is received.
boost::asio::signal_set signals(io_service, SIGINT, SIGTERM);
signals.async_wait( std::bind(&boost::asio::io_service::stop, &io_service));
#if 0
std::shared_ptr<AzmqFlatbuffer> sendP;
{
boost::system::error_code ec;
azmq::socket socket(io_service, ZMQ_DEALER);
socket.connect("tcp://"+ remotehost + ":" + remoteport);
sendP = std::make_shared<AzmqFlatbuffer>(std::move(socket));
}
std::shared_ptr<AzmqFlatbuffer> receiveP;
{
boost::system::error_code ec;
azmq::socket socket(io_service, ZMQ_DEALER);
socket.bind("tcp://" + localhost + ":" + localport);
receiveP = std::make_shared<AzmqFlatbuffer>(std::move(socket));
}
// Will run until signal is received, using separate objects for send and receive
std::thread t(bounce,sendP,receiveP);
#else
std::shared_ptr<AzmqFlatbuffer> receiveP;
{
boost::system::error_code ec;
azmq::socket socket(io_service, ZMQ_DEALER);
socket.bind("tcp://" + localhost + ":" + localport);
socket.connect("tcp://"+ remotehost + ":" + remoteport);
receiveP = std::make_shared<AzmqFlatbuffer>(std::move(socket));
}
// Will run until signal is received, using one object for both send and receive
std::thread t(bounce,receiveP,receiveP,shouldReceive);
#endif
io_service.run();
t.join();
// }
// catch (std::exception& e)
// {
// std::cerr << "Exception: " << e.what() << "\n";
// }
return 0;
}
Raw
AzmqTest.cpp
//
// echo_server.cpp
// ~~~~~~~~~~~~~~~
//
// Copyright (c) 2003-2014 Christopher M. Kohlhoff (chris at kohlhoff dot com)
// Copyright (c) 2015 Andrew Hundt
//
// Distributed under the Boost Software License, Version 1.0. (See accompanying
// file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
//
#include <mutex>
#include <iostream>
#include <memory>
#include <thread>
#include <boost/asio.hpp>
#include <boost/asio/io_service.hpp>
#include <boost/asio/ip/tcp.hpp>
#include <boost/asio/spawn.hpp>
#include <boost/asio/steady_timer.hpp>
#include <boost/asio/write.hpp>
#include <boost/asio/signal_set.hpp>
#include <boost/circular_buffer.hpp>
#include <boost/container/static_vector.hpp>
#include <azmq/socket.hpp>
/// Send messages between a client and server asynchronously.
///
/// @see overview of zmq socket types https://sachabarbs.wordpress.com/2014/08/21/zeromq-2-the-socket-types-2/
/// @see bounce is based on https://github.com/zeromq/azmq/blob/master/test/socket/main.cpp
/// @see flatbuffers https://google.github.io/flatbuffers/md__cpp_usage.html
void bounce(std::shared_ptr<azmq::socket> sendP, std::shared_ptr<azmq::socket> receiveP, bool shouldReceive = true) {
std::atomic<int> recv_count(0);
std::atomic<int> send_count(0);
constexpr int messagesToSend = 1000;
for (int x = 0; x<messagesToSend; ++x) {
/////////////////////////////////////////
// Client sends to server asynchronously!
{
sendP->async_send(boost::asio::buffer(&x, 4), [x,&sendP,&send_count] (boost::system::error_code const& ec, size_t bytes_transferred) {
if(ec) std::cout << "SendFlatBuffer error! todo: figure out how to handle this\n";
else {
std::cout << "sent: " << x << "\n";
send_count++;
}
});
}
//////////////////////////////////////////////
// Server receives from client asynchronously!
while (shouldReceive && recv_count < send_count ) {
std::shared_ptr<int> recvBufP(std::make_shared<int>(0));
BOOST_VERIFY(*recvBufP == 0);
receiveP->async_receive(boost::asio::buffer(recvBufP.get(),sizeof(*recvBufP)), [recvBufP,receiveP,&recv_count, messagesToSend](boost::system::error_code const ec, size_t bytes_transferred) {
if(ec) std::cout << "start_async_receive_buffers error! todo: figure out how to handle this\n";
else std::cout << "received: " << *recvBufP << " recv_count:" << recv_count << "\n";
// make rbp the size of the actual amount of data read
recv_count++;
});
}
//std::this_thread::sleep_for( std::chrono::milliseconds(1) );
}
sendP.reset();
receiveP.reset();
}
int main(int argc, char* argv[])
{
// try
// {
std::string localhost("127.0.0.1");
std::string localport("9998");
std::string remotehost("127.0.0.1");
std::string remoteport("9998");
std::cout << "argc: " << argc << "\n";
/// @todo add default localhost/localport
if (argc != 5 && argc != 1 && argc != 3)
{
std::cerr << "Usage: " << argv[0] << " <localip> <localport> <remoteip> <remoteport>\n";
return 1;
}
bool shouldReceive = true;
if(argc == 3){
remotehost = std::string(argv[1]);
remoteport = std::string(argv[2]);
shouldReceive = false;
}
if(argc == 5){
localhost = std::string(argv[1]);
localport = std::string(argv[2]);
remotehost = std::string(argv[3]);
remoteport = std::string(argv[4]);
shouldReceive = true;
}
std::cout << "using: " << argv[0] << " ";
if(shouldReceive) std::cout << localhost << " " << localport << " ";
std::cout << remotehost << " " << remoteport << "\n";
boost::asio::io_service io_service;
std::thread thr;
// Register signal handlers so that the daemon may be shut down when a signal is received.
boost::asio::signal_set signals(io_service, SIGINT, SIGTERM);
signals.async_wait( std::bind(&boost::asio::io_service::stop, &io_service));
std::shared_ptr<azmq::socket> socket = std::make_shared<azmq::socket>(io_service, ZMQ_DEALER);
socket->bind("tcp://" + localhost + ":" + localport);
socket->connect("tcp://"+ remotehost + ":" + remoteport);
// Will run until signal is received, using one object for both send and receive
thr = std::thread(bounce,socket,socket,shouldReceive);
io_service.run();
thr.join();
// }
// catch (std::exception& e)
// {
// std::cerr << "Exception: " << e.what() << "\n";
// }
return 0;
}
Raw
AzmqTest_ConsoleOutput.txt
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(lldb)
Raw
azmqTest_stack_trace.txt
Thread 1Queue : com.apple.main-thread (serial)
#0 0x00000001000257ac in boost::asio::detail::buffer_cast_helper(boost::asio::mutable_buffer const&) at /usr/local/include/boost/asio/buffer.hpp:146
#1 0x0000000100025781 in boost::asio::const_buffer::const_buffer(boost::asio::mutable_buffer const&) at /usr/local/include/boost/asio/buffer.hpp:231
#2 0x000000010002574d in boost::asio::const_buffer::const_buffer(boost::asio::mutable_buffer const&) at /usr/local/include/boost/asio/buffer.hpp:237
#3 0x00000001000267b2 in boost::enable_if<boost::has_range_const_iterator<boost::asio::mutable_buffers_1>, unsigned long>::type azmq::detail::socket_ops::send<boost::asio::mutable_buffers_1>(boost::asio::mutable_buffers_1 const&, std::__1::unique_ptr<void, azmq::detail::socket_ops::socket_close>&, int, boost::system::error_code&) at /usr/local/include/azmq/detail/socket_ops.hpp:270
#4 0x000000010002661d in azmq::detail::send_buffer_op_base<boost::asio::mutable_buffers_1>::do_perform(azmq::detail::reactor_op*, std::__1::unique_ptr<void, azmq::detail::socket_ops::socket_close>&) at /usr/local/include/azmq/detail/send_op.hpp:38
#5 0x000000010001d50c in azmq::detail::reactor_op::do_perform(std::__1::unique_ptr<void, azmq::detail::socket_ops::socket_close>&) at /usr/local/include/azmq/detail/reactor_op.hpp:29
#6 0x000000010001eabc in azmq::detail::socket_service::per_descriptor_data::perform_ops(boost::intrusive::list<azmq::detail::reactor_op, boost::intrusive::member_hook<azmq::detail::reactor_op, boost::intrusive::list_member_hook<void, void, void>, &(azmq::detail::reactor_op::member_hook_)>, void, void, void>&, boost::system::error_code&) at /usr/local/include/azmq/detail/socket_service.hpp:118
#7 0x000000010001e894 in azmq::detail::socket_service::handle_missed_events(std::__1::weak_ptr<azmq::detail::socket_service::per_descriptor_data> const&, boost::system::error_code) at /usr/local/include/azmq/detail/socket_service.hpp:520
#8 0x000000010001e7bc in azmq::detail::socket_service::check_missed_events(std::__1::shared_ptr<azmq::detail::socket_service::per_descriptor_data>&)::'lambda'()::operator()() const at /usr/local/include/azmq/detail/socket_service.hpp:540
#9 0x000000010001e779 in void boost::asio::asio_handler_invoke<azmq::detail::socket_service::check_missed_events(std::__1::shared_ptr<azmq::detail::socket_service::per_descriptor_data>&)::'lambda'()>(azmq::detail::socket_service::check_missed_events(std::__1::shared_ptr<azmq::detail::socket_service::per_descriptor_data>&)::'lambda'()&, ...) at /usr/local/include/boost/asio/handler_invoke_hook.hpp:69
#10 0x000000010001e647 in void boost_asio_handler_invoke_helpers::invoke<azmq::detail::socket_service::check_missed_events(std::__1::shared_ptr<azmq::detail::socket_service::per_descriptor_data>&)::'lambda'(), azmq::detail::socket_service::check_missed_events(std::__1::shared_ptr<azmq::detail::socket_service::per_descriptor_data>&)::'lambda'()>(azmq::detail::socket_service::check_missed_events(std::__1::shared_ptr<azmq::detail::socket_service::per_descriptor_data>&)::'lambda'()&, azmq::detail::socket_service::check_missed_events(std::__1::shared_ptr<azmq::detail::socket_service::per_descriptor_data>&)::'lambda'()&) at /usr/local/include/boost/asio/detail/handler_invoke_helpers.hpp:37
#11 0x000000010001e4f7 in boost::asio::detail::completion_handler<azmq::detail::socket_service::check_missed_events(std::__1::shared_ptr<azmq::detail::socket_service::per_descriptor_data>&)::'lambda'()>::do_complete(boost::asio::detail::task_io_service*, boost::asio::detail::task_io_service_operation*, boost::system::error_code const&, unsigned long) at /usr/local/include/boost/asio/detail/completion_handler.hpp:68
#12 0x000000010002a847 in boost::asio::detail::task_io_service_operation::complete(boost::asio::detail::task_io_service&, boost::system::error_code const&, unsigned long) at /usr/local/include/boost/asio/detail/task_io_service_operation.hpp:38
#13 0x0000000100029ec6 in boost::asio::detail::task_io_service::do_run_one(boost::asio::detail::scoped_lock<boost::asio::detail::posix_mutex>&, boost::asio::detail::task_io_service_thread_info&, boost::system::error_code const&) at /usr/local/include/boost/asio/detail/impl/task_io_service.ipp:372
#14 0x0000000100029aed in boost::asio::detail::task_io_service::run(boost::system::error_code&) at /usr/local/include/boost/asio/detail/impl/task_io_service.ipp:149
#15 0x0000000100009af1 in boost::asio::io_service::run() at /usr/local/include/boost/asio/impl/io_service.ipp:59
#16 0x0000000100006c1c in main at /Users/athundt/source/robonetracker/modules/grl/test/AzmqTest.cpp:138
#17 0x00007fff8f2055c9 in start ()
Thread 2Thread 3
Raw
clang_stacktrace_mac_osx_10_10.cpp
Thread 1Queue : com.apple.main-thread (serial)
#0 0x00007fff8e1dc1b0 in _platform_memmove$VARIANT$Unknown ()
#1 0x000000010005e3bb in boost::asio::buffer_copy(boost::asio::mutable_buffer const&, boost::asio::const_buffer const&) at /usr/local/include/boost/asio/buffer.hpp:1303
#2 0x000000010005e338 in boost::asio::buffer_copy(boost::asio::mutable_buffers_1 const&, boost::asio::const_buffer const&) at /usr/local/include/boost/asio/buffer.hpp:1446
#3 0x000000010005dfd9 in azmq::v1::message::rebuild(boost::asio::const_buffer const&) at /usr/local/include/azmq/detail/../message.hpp:172
#4 0x000000010005dd17 in boost::enable_if<boost::has_range_const_iterator<boost::asio::mutable_buffers_1>, unsigned long>::type azmq::detail::socket_ops::send<boost::asio::mutable_buffers_1>(boost::asio::mutable_buffers_1 const&, std::__1::unique_ptr<void, azmq::detail::socket_ops::socket_close>&, int, boost::system::error_code&) at /usr/local/include/azmq/detail/socket_ops.hpp:268
#5 0x000000010005da7d in azmq::detail::send_buffer_op_base<boost::asio::mutable_buffers_1>::do_perform(azmq::detail::reactor_op*, std::__1::unique_ptr<void, azmq::detail::socket_ops::socket_close>&) at /usr/local/include/azmq/detail/send_op.hpp:38
#6 0x000000010005739c in azmq::detail::reactor_op::do_perform(std::__1::unique_ptr<void, azmq::detail::socket_ops::socket_close>&) at /usr/local/include/azmq/detail/reactor_op.hpp:29
#7 0x00000001000592d3 in azmq::detail::socket_service::per_descriptor_data::perform_ops(int, boost::intrusive::list<azmq::detail::reactor_op, boost::intrusive::member_hook<azmq::detail::reactor_op, boost::intrusive::list_member_hook<void, void, void>, &(azmq::detail::reactor_op::member_hook_)>, void, void, void>&) at /usr/local/include/azmq/detail/socket_service.hpp:106
#8 0x0000000100059053 in azmq::detail::socket_service::reactor_handler::operator()(boost::system::error_code const&, unsigned long) const at /usr/local/include/azmq/detail/socket_service.hpp:534
#9 0x000000010005ad8b in azmq::detail::socket_service::reactor_handler::schedule(azmq::detail::socket_service::descriptor_map&, std::__1::shared_ptr<azmq::detail::socket_service::per_descriptor_data>&, bool)::'lambda'()::operator()() const at /usr/local/include/azmq/detail/socket_service.hpp:555
#10 0x000000010005ad49 in void boost::asio::asio_handler_invoke<azmq::detail::socket_service::reactor_handler::schedule(azmq::detail::socket_service::descriptor_map&, std::__1::shared_ptr<azmq::detail::socket_service::per_descriptor_data>&, bool)::'lambda'()>(azmq::detail::socket_service::reactor_handler::schedule(azmq::detail::socket_service::descriptor_map&, std::__1::shared_ptr<azmq::detail::socket_service::per_descriptor_data>&, bool)::'lambda'()&, ...) at /usr/local/include/boost/asio/handler_invoke_hook.hpp:69
#11 0x000000010005ac17 in void boost_asio_handler_invoke_helpers::invoke<azmq::detail::socket_service::reactor_handler::schedule(azmq::detail::socket_service::descriptor_map&, std::__1::shared_ptr<azmq::detail::socket_service::per_descriptor_data>&, bool)::'lambda'(), azmq::detail::socket_service::reactor_handler::schedule(azmq::detail::socket_service::descriptor_map&, std::__1::shared_ptr<azmq::detail::socket_service::per_descriptor_data>&, bool)::'lambda'()>(azmq::detail::socket_service::reactor_handler::schedule(azmq::detail::socket_service::descriptor_map&, std::__1::shared_ptr<azmq::detail::socket_service::per_descriptor_data>&, bool)::'lambda'()&, azmq::detail::socket_service::reactor_handler::schedule(azmq::detail::socket_service::descriptor_map&, std::__1::shared_ptr<azmq::detail::socket_service::per_descriptor_data>&, bool)::'lambda'()&) at /usr/local/include/boost/asio/detail/handler_invoke_helpers.hpp:37
#12 0x000000010005aaea in boost::asio::detail::completion_handler<azmq::detail::socket_service::reactor_handler::schedule(azmq::detail::socket_service::descriptor_map&, std::__1::shared_ptr<azmq::detail::socket_service::per_descriptor_data>&, bool)::'lambda'()>::do_complete(boost::asio::detail::task_io_service*, boost::asio::detail::task_io_service_operation*, boost::system::error_code const&, unsigned long) at /usr/local/include/boost/asio/detail/completion_handler.hpp:68
#13 0x00000001000102f7 in boost::asio::detail::task_io_service_operation::complete(boost::asio::detail::task_io_service&, boost::system::error_code const&, unsigned long) at /usr/local/include/boost/asio/detail/task_io_service_operation.hpp:38
#14 0x0000000100021cf6 in boost::asio::detail::task_io_service::do_run_one(boost::asio::detail::scoped_lock<boost::asio::detail::posix_mutex>&, boost::asio::detail::task_io_service_thread_info&, boost::system::error_code const&) at /usr/local/include/boost/asio/detail/impl/task_io_service.ipp:372
#15 0x000000010002191d in boost::asio::detail::task_io_service::run(boost::system::error_code&) at /usr/local/include/boost/asio/detail/impl/task_io_service.ipp:149
#16 0x0000000100006891 in boost::asio::io_service::run() at /usr/local/include/boost/asio/impl/io_service.ipp:59
#17 0x0000000100004392 in main at /Users/athundt/source/robone/src/AzmqFlatbufferTest.cpp:101
#18 0x00007fff8a22f5c9 in start ()
#19 0x00007fff8a22f5c9 in start ()
Thread 4#0 0x00007fff8e7ad166 in __psynch_mutexwait ()
#1 0x00007fff8bbcf78a in _pthread_mutex_lock ()
#2 0x00000001000186cd in boost::posix::pthread_mutex_lock(_opaque_pthread_mutex_t*) [inlined] at /usr/local/include/boost/thread/pthread/mutex.hpp:62
#3 0x00000001000186c4 in boost::mutex::lock() at /usr/local/include/boost/thread/pthread/mutex.hpp:116
#4 0x0000000100024174 in azmq::detail::socket_service::per_descriptor_data::lock() const at /usr/local/include/azmq/detail/socket_service.hpp:157
#5 0x0000000100024123 in boost::unique_lock<azmq::detail::socket_service::per_descriptor_data>::lock() at /usr/local/include/boost/thread/lock_types.hpp:346
#6 0x0000000100024037 in boost::unique_lock<azmq::detail::socket_service::per_descriptor_data>::unique_lock(azmq::detail::socket_service::per_descriptor_data&) at /usr/local/include/boost/thread/lock_types.hpp:124
#7 0x000000010002347d in boost::unique_lock<azmq::detail::socket_service::per_descriptor_data>::unique_lock(azmq::detail::socket_service::per_descriptor_data&) at /usr/local/include/boost/thread/lock_types.hpp:125
#8 0x0000000100056a41 in azmq::detail::socket_service::enqueue(std::__1::shared_ptr<azmq::detail::socket_service::per_descriptor_data>&, azmq::detail::socket_service::op_type, std::__1::unique_ptr<azmq::detail::reactor_op, std::__1::default_delete<azmq::detail::reactor_op> >&) at /usr/local/include/azmq/detail/socket_service.hpp:589
#9 0x0000000100056601 in void azmq::detail::socket_service::enqueue<azmq::detail::send_buffer_op<boost::asio::mutable_buffers_1, AzmqFlatbuffer::async_send_flatbuffer(std::__1::shared_ptr<flatbuffers::FlatBufferBuilder>)::'lambda'(boost::system::error_code const&, unsigned long)>, boost::asio::mutable_buffers_1 const&, AzmqFlatbuffer::async_send_flatbuffer(std::__1::shared_ptr<flatbuffers::FlatBufferBuilder>)::'lambda'(boost::system::error_code const&, unsigned long), int&>(std::__1::shared_ptr<azmq::detail::socket_service::per_descriptor_data>&, azmq::detail::socket_service::op_type, boost::asio::mutable_buffers_1 const&&&, AzmqFlatbuffer::async_send_flatbuffer(std::__1::shared_ptr<flatbuffers::FlatBufferBuilder>)::'lambda'(boost::system::error_code const&, unsigned long)&&, int&&&) at /usr/local/include/azmq/detail/socket_service.hpp:433
#10 0x0000000100056213 in void azmq::v1::socket::async_send<boost::asio::mutable_buffers_1, AzmqFlatbuffer::async_send_flatbuffer(std::__1::shared_ptr<flatbuffers::FlatBufferBuilder>)::'lambda'(boost::system::error_code const&, unsigned long)>(boost::asio::mutable_buffers_1 const&, AzmqFlatbuffer::async_send_flatbuffer(std::__1::shared_ptr<flatbuffers::FlatBufferBuilder>)::'lambda'(boost::system::error_code const&, unsigned long), int) at /usr/local/include/azmq/socket.hpp:584
#11 0x0000000100005da9 in AzmqFlatbuffer::async_send_flatbuffer(std::__1::shared_ptr<flatbuffers::FlatBufferBuilder>) at /Users/athundt/source/robone/include/robone/AzmqFlatbuffer.hpp:81
#12 0x0000000100003b13 in bounce(std::__1::shared_ptr<AzmqFlatbuffer>, std::__1::shared_ptr<AzmqFlatbuffer>) at /Users/athundt/source/robone/src/AzmqFlatbufferTest.cpp:33
#13 0x0000000100007ba7 in decltype(std::__1::forward<void (*)(std::__1::shared_ptr<AzmqFlatbuffer>, std::__1::shared_ptr<AzmqFlatbuffer>)>(fp)(std::__1::forward<std::__1::shared_ptr<AzmqFlatbuffer>, std::__1::shared_ptr<AzmqFlatbuffer> >(fp0))) std::__1::__invoke<void (*)(std::__1::shared_ptr<AzmqFlatbuffer>, std::__1::shared_ptr<AzmqFlatbuffer>), std::__1::shared_ptr<AzmqFlatbuffer>, std::__1::shared_ptr<AzmqFlatbuffer> >(void (*&&)(std::__1::shared_ptr<AzmqFlatbuffer>, std::__1::shared_ptr<AzmqFlatbuffer>), std::__1::shared_ptr<AzmqFlatbuffer>&&, std::__1::shared_ptr<AzmqFlatbuffer>&&) [inlined] at /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/../include/c++/v1/__functional_base:413
#14 0x0000000100007aa1 in void std::__1::__thread_execute<void (*)(std::__1::shared_ptr<AzmqFlatbuffer>, std::__1::shared_ptr<AzmqFlatbuffer>), std::__1::shared_ptr<AzmqFlatbuffer>, std::__1::shared_ptr<AzmqFlatbuffer>, 1ul, 2ul>(std::__1::tuple<void (*)(std::__1::shared_ptr<AzmqFlatbuffer>, std::__1::shared_ptr<AzmqFlatbuffer>), std::__1::shared_ptr<AzmqFlatbuffer>, std::__1::shared_ptr<AzmqFlatbuffer> >&, std::__1::__tuple_indices<1ul, 2ul>) [inlined] at /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/../include/c++/v1/thread:332
#15 0x0000000100007a55 in void* std::__1::__thread_proxy<std::__1::tuple<void (*)(std::__1::shared_ptr<AzmqFlatbuffer>, std::__1::shared_ptr<AzmqFlatbuffer>), std::__1::shared_ptr<AzmqFlatbuffer>, std::__1::shared_ptr<AzmqFlatbuffer> > >(void*) at /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/../include/c++/v1/thread:342
#16 0x00007fff8bbd1268 in _pthread_body ()
#17 0x00007fff8bbd11e5 in _pthread_start ()
#18 0x00007fff8bbcf41d in thread_start ()
Raw
clang_stacktrace_mac_osx_10_10_azmq_commit_d1f609df59ce7d7c9120326760f48365346e37c0
Stack trace run with https://github.com/zeromq/azmq/commit/d1f609df59ce7d7c9120326760f48365346e37c0
Thread 1Queue : com.apple.main-thread (serial)
#0 0x00007fff943c01b0 in _platform_memmove$VARIANT$Unknown ()
#1 0x00000001000638fb in boost::asio::buffer_copy(boost::asio::mutable_buffer const&, boost::asio::const_buffer const&) at /usr/local/include/boost/asio/buffer.hpp:1303
#2 0x0000000100063878 in boost::asio::buffer_copy(boost::asio::mutable_buffers_1 const&, boost::asio::const_buffer const&) at /usr/local/include/boost/asio/buffer.hpp:1446
#3 0x0000000100063519 in azmq::message::rebuild(boost::asio::const_buffer const&) at /usr/local/include/azmq/message.hpp:176
#4 0x0000000100063257 in boost::enable_if<boost::has_range_const_iterator<boost::asio::mutable_buffers_1>, unsigned long>::type azmq::detail::socket_ops::send<boost::asio::mutable_buffers_1>(boost::asio::mutable_buffers_1 const&, std::__1::unique_ptr<void, azmq::detail::socket_ops::socket_close>&, int, boost::system::error_code&) at /usr/local/include/azmq/detail/socket_ops.hpp:270
#5 0x0000000100062fbd in azmq::detail::send_buffer_op_base<boost::asio::mutable_buffers_1>::do_perform(azmq::detail::reactor_op*, std::__1::unique_ptr<void, azmq::detail::socket_ops::socket_close>&) at /usr/local/include/azmq/detail/send_op.hpp:38
#6 0x000000010005c86c in azmq::detail::reactor_op::do_perform(std::__1::unique_ptr<void, azmq::detail::socket_ops::socket_close>&) at /usr/local/include/azmq/detail/reactor_op.hpp:29
#7 0x000000010005dc4c in azmq::detail::socket_service::per_descriptor_data::perform_ops(boost::intrusive::list<azmq::detail::reactor_op, boost::intrusive::member_hook<azmq::detail::reactor_op, boost::intrusive::list_member_hook<void, void, void>, &(azmq::detail::reactor_op::member_hook_)>, void, void, void>&, boost::system::error_code&) at /usr/local/include/azmq/detail/socket_service.hpp:118
#8 0x000000010005da24 in azmq::detail::socket_service::handle_missed_events(std::__1::weak_ptr<azmq::detail::socket_service::per_descriptor_data> const&, boost::system::error_code) at /usr/local/include/azmq/detail/socket_service.hpp:520
#9 0x000000010005d94c in azmq::detail::socket_service::check_missed_events(std::__1::shared_ptr<azmq::detail::socket_service::per_descriptor_data>&)::'lambda'()::operator()() const at /usr/local/include/azmq/detail/socket_service.hpp:540
#10 0x000000010005d909 in void boost::asio::asio_handler_invoke<azmq::detail::socket_service::check_missed_events(std::__1::shared_ptr<azmq::detail::socket_service::per_descriptor_data>&)::'lambda'()>(azmq::detail::socket_service::check_missed_events(std::__1::shared_ptr<azmq::detail::socket_service::per_descriptor_data>&)::'lambda'()&, ...) at /usr/local/include/boost/asio/handler_invoke_hook.hpp:69
#11 0x000000010005d7d7 in void boost_asio_handler_invoke_helpers::invoke<azmq::detail::socket_service::check_missed_events(std::__1::shared_ptr<azmq::detail::socket_service::per_descriptor_data>&)::'lambda'(), azmq::detail::socket_service::check_missed_events(std::__1::shared_ptr<azmq::detail::socket_service::per_descriptor_data>&)::'lambda'()>(azmq::detail::socket_service::check_missed_events(std::__1::shared_ptr<azmq::detail::socket_service::per_descriptor_data>&)::'lambda'()&, azmq::detail::socket_service::check_missed_events(std::__1::shared_ptr<azmq::detail::socket_service::per_descriptor_data>&)::'lambda'()&) at /usr/local/include/boost/asio/detail/handler_invoke_helpers.hpp:37
#12 0x000000010005d687 in boost::asio::detail::completion_handler<azmq::detail::socket_service::check_missed_events(std::__1::shared_ptr<azmq::detail::socket_service::per_descriptor_data>&)::'lambda'()>::do_complete(boost::asio::detail::task_io_service*, boost::asio::detail::task_io_service_operation*, boost::system::error_code const&, unsigned long) at /usr/local/include/boost/asio/detail/completion_handler.hpp:68
#13 0x00000001000171e7 in boost::asio::detail::task_io_service_operation::complete(boost::asio::detail::task_io_service&, boost::system::error_code const&, unsigned long) at /usr/local/include/boost/asio/detail/task_io_service_operation.hpp:38
#14 0x00000001000263d6 in boost::asio::detail::task_io_service::do_run_one(boost::asio::detail::scoped_lock<boost::asio::detail::posix_mutex>&, boost::asio::detail::task_io_service_thread_info&, boost::system::error_code const&) at /usr/local/include/boost/asio/detail/impl/task_io_service.ipp:372
#15 0x0000000100025ffd in boost::asio::detail::task_io_service::run(boost::system::error_code&) at /usr/local/include/boost/asio/detail/impl/task_io_service.ipp:149
#16 0x0000000100009701 in boost::asio::io_service::run() at /usr/local/include/boost/asio/impl/io_service.ipp:59
#17 0x0000000100006bec in main at /Users/athundt/source/robonetracker/modules/grl/test/AzmqFlatbufferTest.cpp:137
#18 0x00007fff8f2055c9 in start ()
#19 0x00007fff8f2055c9 in start ()
Thread 2#0 0x00007fff9254d21a in kevent ()
#1 0x00000001005858ae in zmq::kqueue_t::loop() ()
#2 0x000000010059f8d5 in thread_routine(void*) ()
#3 0x00007fff910e4268 in _pthread_body ()
#4 0x00007fff910e41e5 in _pthread_start ()
#5 0x00007fff910e241d in thread_start ()
Thread 3#0 0x00007fff9254d21a in kevent ()
#1 0x00000001005858ae in zmq::kqueue_t::loop() ()
#2 0x000000010059f8d5 in thread_routine(void*) ()
#3 0x00007fff910e4268 in _pthread_body ()
#4 0x00007fff910e41e5 in _pthread_start ()
#5 0x00007fff910e241d in thread_start ()
Thread 4#0 0x00007fff9254c166 in __psynch_mutexwait ()
#1 0x00007fff910e278a in _pthread_mutex_lock ()
#2 0x000000010000d28d in boost::posix::pthread_mutex_lock(_opaque_pthread_mutex_t*) [inlined] at /usr/local/include/boost/thread/pthread/mutex.hpp:62
#3 0x000000010000d284 in boost::mutex::lock() at /usr/local/include/boost/thread/pthread/mutex.hpp:116
#4 0x000000010000d264 in azmq::detail::socket_service::per_descriptor_data::lock() const at /usr/local/include/azmq/detail/socket_service.hpp:169
#5 0x000000010000d0f3 in boost::unique_lock<azmq::detail::socket_service::per_descriptor_data>::lock() at /usr/local/include/boost/thread/lock_types.hpp:346
#6 0x000000010000d007 in boost::unique_lock<azmq::detail::socket_service::per_descriptor_data>::unique_lock(azmq::detail::socket_service::per_descriptor_data&) at /usr/local/include/boost/thread/lock_types.hpp:124
#7 0x000000010000cded in boost::unique_lock<azmq::detail::socket_service::per_descriptor_data>::unique_lock(azmq::detail::socket_service::per_descriptor_data&) at /usr/local/include/boost/thread/lock_types.hpp:125
#8 0x000000010005bf81 in azmq::detail::socket_service::enqueue(std::__1::shared_ptr<azmq::detail::socket_service::per_descriptor_data>&, azmq::detail::socket_service::op_type, std::__1::unique_ptr<azmq::detail::reactor_op, std::__1::default_delete<azmq::detail::reactor_op> >&) at /usr/local/include/azmq/detail/socket_service.hpp:649
#9 0x000000010005bb31 in void azmq::detail::socket_service::enqueue<azmq::detail::send_buffer_op<boost::asio::mutable_buffers_1, AzmqFlatbuffer::async_send_flatbuffer(std::__1::shared_ptr<flatbuffers::FlatBufferBuilder>)::'lambda'(boost::system::error_code const&, unsigned long)>, boost::asio::mutable_buffers_1 const&, AzmqFlatbuffer::async_send_flatbuffer(std::__1::shared_ptr<flatbuffers::FlatBufferBuilder>)::'lambda'(boost::system::error_code const&, unsigned long), int&>(std::__1::shared_ptr<azmq::detail::socket_service::per_descriptor_data>&, azmq::detail::socket_service::op_type, boost::asio::mutable_buffers_1 const&&&, AzmqFlatbuffer::async_send_flatbuffer(std::__1::shared_ptr<flatbuffers::FlatBufferBuilder>)::'lambda'(boost::system::error_code const&, unsigned long)&&, int&&&) at /usr/local/include/azmq/detail/socket_service.hpp:457
#10 0x000000010005b746 in void azmq::socket::async_send<boost::asio::mutable_buffers_1, AzmqFlatbuffer::async_send_flatbuffer(std::__1::shared_ptr<flatbuffers::FlatBufferBuilder>)::'lambda'(boost::system::error_code const&, unsigned long)>(boost::asio::mutable_buffers_1 const&, AzmqFlatbuffer::async_send_flatbuffer(std::__1::shared_ptr<flatbuffers::FlatBufferBuilder>)::'lambda'(boost::system::error_code const&, unsigned long)&&, int) at /usr/local/include/azmq/socket.hpp:585
#11 0x0000000100008619 in AzmqFlatbuffer::async_send_flatbuffer(std::__1::shared_ptr<flatbuffers::FlatBufferBuilder>) at /Users/athundt/source/robonetracker/modules/grl/include/grl/AzmqFlatbuffer.hpp:76
#12 0x0000000100003b0a in bounce(std::__1::shared_ptr<AzmqFlatbuffer>, std::__1::shared_ptr<AzmqFlatbuffer>, bool) at /Users/athundt/source/robonetracker/modules/grl/test/AzmqFlatbufferTest.cpp:36
#13 0x000000010000aa77 in decltype(std::__1::forward<void (*)(std::__1::shared_ptr<AzmqFlatbuffer>, std::__1::shared_ptr<AzmqFlatbuffer>, bool)>(fp)(std::__1::forward<std::__1::shared_ptr<AzmqFlatbuffer>, std::__1::shared_ptr<AzmqFlatbuffer>, bool>(fp0))) std::__1::__invoke<void (*)(std::__1::shared_ptr<AzmqFlatbuffer>, std::__1::shared_ptr<AzmqFlatbuffer>, bool), std::__1::shared_ptr<AzmqFlatbuffer>, std::__1::shared_ptr<AzmqFlatbuffer>, bool>(void (*&&)(std::__1::shared_ptr<AzmqFlatbuffer>, std::__1::shared_ptr<AzmqFlatbuffer>, bool), std::__1::shared_ptr<AzmqFlatbuffer>&&, std::__1::shared_ptr<AzmqFlatbuffer>&&, bool&&) [inlined] at /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/../include/c++/v1/__functional_base:413
#14 0x000000010000a958 in void std::__1::__thread_execute<void (*)(std::__1::shared_ptr<AzmqFlatbuffer>, std::__1::shared_ptr<AzmqFlatbuffer>, bool), std::__1::shared_ptr<AzmqFlatbuffer>, std::__1::shared_ptr<AzmqFlatbuffer>, bool, 1ul, 2ul, 3ul>(std::__1::tuple<void (*)(std::__1::shared_ptr<AzmqFlatbuffer>, std::__1::shared_ptr<AzmqFlatbuffer>, bool), std::__1::shared_ptr<AzmqFlatbuffer>, std::__1::shared_ptr<AzmqFlatbuffer>, bool>&, std::__1::__tuple_indices<1ul, 2ul, 3ul>) [inlined] at /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/../include/c++/v1/thread:332
#15 0x000000010000a8d0 in void* std::__1::__thread_proxy<std::__1::tuple<void (*)(std::__1::shared_ptr<AzmqFlatbuffer>, std::__1::shared_ptr<AzmqFlatbuffer>, bool), std::__1::shared_ptr<AzmqFlatbuffer>, std::__1::shared_ptr<AzmqFlatbuffer>, bool> >(void*) at /Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/../include/c++/v1/thread:342
#16 0x00007fff910e4268 in _pthread_body ()
#17 0x00007fff910e41e5 in _pthread_start ()
#18 0x00007fff910e241d in thread_start ()
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