AuxTaskRT: if the desired queue parameters do not work, try with syst…

…em defaults. This helps when running with stock max limits on popular distros. Also do not cleanup queues if not properly created)

core/AuxTaskRT.cpp

@@ -4,34 +4,58 @@
 #include <stdlib.h>
 #include <vector>
 #include <string.h>
+
 AuxTaskRT::~AuxTaskRT()
 {
 	lShouldStop = true;
-	struct timespec absoluteTimeout = {0, 0};
-	// non blocking write, so if the queue is full it won't fail
-	char c = 0;
-	int ret = BELA_RT_WRAP(mq_timedsend(queueDesc, &c, sizeof(c), 0, &absoluteTimeout));
-	if(ret)
-		fprintf(stderr, "Error mq_timedsend: %d %s\n", errno, strerror(errno));
+	if(queueValid)
+	{
+		struct timespec absoluteTimeout = {0, 0};
+		// non blocking write, so if the queue is full it won't fail
+		char c = 0;
+		int ret = BELA_RT_WRAP(mq_timedsend(queueDesc, &c, sizeof(c), 0, &absoluteTimeout));
+		if(ret)
+			fprintf(stderr, "Error mq_timedsend: %d %s\n", errno, strerror(errno));
+	}
 	join();
-	ret = BELA_RT_WRAP(mq_close(queueDesc));
-	if(ret)
-		fprintf(stderr, "Error closing queueDesc: %d %s\n", errno, strerror(errno));
-	ret = BELA_RT_WRAP(mq_unlink(queueName.c_str()));
-	if(ret)
-		fprintf(stderr, "Error unlinking queue: %d %s\n", errno, strerror(errno));
+	if(queueValid)
+	{
+		int ret = BELA_RT_WRAP(mq_close(queueDesc));
+		if(ret)
+			fprintf(stderr, "Error closing queueDesc: %d %s\n", errno, strerror(errno));
+		ret = BELA_RT_WRAP(mq_unlink(queueName.c_str()));
+		if(ret)
+			fprintf(stderr, "Error unlinking queue: %d %s\n", errno, strerror(errno));
+	}
 }
 
 int AuxTaskRT::commsInit()
 {
 	// create a queue, with prefixed name
-	queueName = std::string("/q_") + name;
+	queueName = std::string("/q_") + name + std::to_string((long long unsigned)(this));
 	struct mq_attr attr;
 	attr.mq_maxmsg = 100;
 	attr.mq_msgsize = 100000;
-	queueDesc = BELA_RT_WRAP(mq_open(queueName.c_str(), O_CREAT | O_RDWR, 0644, &attr));
-	if((mqd_t)-1 == queueDesc)
+	// first try with our desired queue properties, failing that try with the system defaults
+	for(auto& ptr : {&attr, (struct mq_attr*)nullptr})
+	{
+		queueDesc = BELA_RT_WRAP(mq_open(queueName.c_str(), O_CREAT | O_RDWR, 0644, ptr));
+		queueValid = ((mqd_t)-1 != queueDesc);
+		if(queueValid)
+		{
+			break;
+		} else {
+			if(&attr == ptr)
+			{
+				fprintf(stderr, "Opening queue %s with desired settings failed, trying with system defaults\n", queueName.c_str());
+			}
+		}
+	}
+	if(!queueValid)
+	{
+		fprintf(stderr, "Error creating queue %s: %d %s\n", queueName.c_str(), errno, strerror(errno));
 		return 1;
+	}
 	return 0;
 }
 

include/AuxTaskRT.h

@@ -18,5 +18,6 @@ class AuxTaskRT : public SchedulableThread
 	int commsSend(const void* buf, size_t size);
 	ssize_t commsReceive(char* buf, size_t size);
 	mqd_t queueDesc;
+	bool queueValid = false;
 	std::string queueName;
 };