From 27a010daf9b3f0de04e0224aebfaf92d1dab8445 Mon Sep 17 00:00:00 2001 From: Chris Lalancette Date: Tue, 2 Jul 2024 12:04:42 +0000 Subject: [PATCH 1/3] Use an ordered_map to store the TopicMap. Some of the tests in ROS 2 assume that the order in which entities (pub, sub, clients, services) are added to the system is the same order in which they will be returned from calls like get_topic_names_and_types(). To facilitate that, use an ordered_map for the mapping between a topic name and the topic type, which remembers insertion order. Signed-off-by: Chris Lalancette --- rmw_zenoh_cpp/CMakeLists.txt | 15 +- rmw_zenoh_cpp/package.xml | 2 + rmw_zenoh_cpp/src/detail/graph_cache.cpp | 30 +- rmw_zenoh_cpp/src/detail/graph_cache.hpp | 3 +- rmw_zenoh_cpp/src/detail/ordered_hash.hpp | 1704 +++++++++++++++++++++ rmw_zenoh_cpp/src/detail/ordered_map.hpp | 999 ++++++++++++ 6 files changed, 2735 insertions(+), 18 deletions(-) create mode 100644 rmw_zenoh_cpp/src/detail/ordered_hash.hpp create mode 100644 rmw_zenoh_cpp/src/detail/ordered_map.hpp diff --git a/rmw_zenoh_cpp/CMakeLists.txt b/rmw_zenoh_cpp/CMakeLists.txt index 9565a304..d2145006 100644 --- a/rmw_zenoh_cpp/CMakeLists.txt +++ b/rmw_zenoh_cpp/CMakeLists.txt @@ -84,8 +84,19 @@ register_rmw_implementation( "cpp:rosidl_typesupport_cpp:rosidl_typesupport_fastrtps_cpp:rosidl_typesupport_introspection_cpp") if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() + find_package(ament_cmake_copyright REQUIRED) + find_package(ament_cmake_cpplint REQUIRED) + find_package(ament_cmake_lint_cmake REQUIRED) + find_package(ament_cmake_uncrustify REQUIRED) + find_package(ament_cmake_xmllint REQUIRED) + + set(_linter_excludes src/detail/ordered_hash.hpp src/detail/ordered_map.hpp) + + ament_copyright() + ament_cpplint(EXCLUDE ${_linter_excludes}) + ament_lint_cmake() + ament_uncrustify(EXCLUDE ${_linter_excludes}) + ament_xmllint() endif() install( diff --git a/rmw_zenoh_cpp/package.xml b/rmw_zenoh_cpp/package.xml index 2297a0b1..3da4920d 100644 --- a/rmw_zenoh_cpp/package.xml +++ b/rmw_zenoh_cpp/package.xml @@ -5,7 +5,9 @@ 0.0.1 A ROS 2 middleware implementation using zenoh-c Yadunund + Apache License 2.0 + MIT Chris Lalancette Franco Cipollone diff --git a/rmw_zenoh_cpp/src/detail/graph_cache.cpp b/rmw_zenoh_cpp/src/detail/graph_cache.cpp index 803383d9..79bff430 100644 --- a/rmw_zenoh_cpp/src/detail/graph_cache.cpp +++ b/rmw_zenoh_cpp/src/detail/graph_cache.cpp @@ -157,11 +157,11 @@ void GraphCache::update_topic_map_for_put( return; } // The topic exists in the topic_map so we check if the type also exists. - GraphNode::TopicTypeMap::iterator topic_type_map_it = topic_map_it->second.find( + GraphNode::TopicTypeMap::iterator topic_type_map_it = topic_map_it.value().find( graph_topic_data->info_.type_); if (topic_type_map_it == topic_map_it->second.end()) { // First time this topic type is added. - topic_map_it->second.insert( + topic_map_it.value().insert( std::make_pair( graph_topic_data->info_.type_, std::move(topic_qos_map))); @@ -462,7 +462,7 @@ void GraphCache::update_topic_map_for_del( } GraphNode::TopicTypeMap::iterator cache_topic_type_it = - cache_topic_it->second.find(topic_info.type_); + cache_topic_it.value().find(topic_info.type_); if (cache_topic_type_it == cache_topic_it->second.end()) { // This should not happen. RMW_ZENOH_LOG_ERROR_NAMED( @@ -503,7 +503,7 @@ void GraphCache::update_topic_map_for_del( } // If the type does not have any qos entries, erase it from the type map. if (cache_topic_type_it->second.empty()) { - cache_topic_it->second.erase(cache_topic_type_it); + cache_topic_it.value().erase(cache_topic_type_it); } // If the topic does not have any TopicData entries, erase the topic from the map. if (cache_topic_it->second.empty()) { @@ -782,21 +782,21 @@ rmw_ret_t fill_names_and_types( }); // Fill topic names and types. std::size_t index = 0; - for (const std::pair & item : entity_map) { + for (const std::pair & item : entity_map) { names_and_types->names.data[index] = rcutils_strdup(item.first.c_str(), *allocator); if (!names_and_types->names.data[index]) { return RMW_RET_BAD_ALLOC; } - { - rcutils_ret_t rcutils_ret = rcutils_string_array_init( - &names_and_types->types[index], - item.second.size(), - allocator); - if (RCUTILS_RET_OK != rcutils_ret) { - RMW_SET_ERROR_MSG(rcutils_get_error_string().str); - return RMW_RET_BAD_ALLOC; - } + + rcutils_ret_t rcutils_ret = rcutils_string_array_init( + &names_and_types->types[index], + item.second.size(), + allocator); + if (RCUTILS_RET_OK != rcutils_ret) { + RMW_SET_ERROR_MSG(rcutils_get_error_string().str); + return RMW_RET_BAD_ALLOC; } + size_t type_index = 0; for (const std::pair & type : item.second) { char * type_name = rcutils_strdup(_demangle_if_ros_type(type.first).c_str(), *allocator); @@ -1208,7 +1208,7 @@ rmw_ret_t GraphCache::service_server_is_available( std::lock_guard lock(graph_mutex_); GraphNode::TopicMap::iterator service_it = graph_services_.find(service_name); if (service_it != graph_services_.end()) { - GraphNode::TopicTypeMap::iterator type_it = service_it->second.find(service_type); + GraphNode::TopicTypeMap::iterator type_it = service_it.value().find(service_type); if (type_it != service_it->second.end()) { for (const auto & [_, topic_data] : type_it->second) { if (topic_data->subs_.size() > 0) { diff --git a/rmw_zenoh_cpp/src/detail/graph_cache.hpp b/rmw_zenoh_cpp/src/detail/graph_cache.hpp index f3331e8b..ce93fad7 100644 --- a/rmw_zenoh_cpp/src/detail/graph_cache.hpp +++ b/rmw_zenoh_cpp/src/detail/graph_cache.hpp @@ -26,6 +26,7 @@ #include "event.hpp" #include "liveliness_utils.hpp" +#include "ordered_map.hpp" #include "rcutils/allocator.h" #include "rcutils/types.h" @@ -80,7 +81,7 @@ struct GraphNode // Map topic type to QoSMap using TopicTypeMap = std::unordered_map; // Map topic name to TopicTypeMap - using TopicMap = std::unordered_map; + using TopicMap = tsl::ordered_map; // Entries for pub/sub. TopicMap pubs_ = {}; diff --git a/rmw_zenoh_cpp/src/detail/ordered_hash.hpp b/rmw_zenoh_cpp/src/detail/ordered_hash.hpp new file mode 100644 index 00000000..9411b5e1 --- /dev/null +++ b/rmw_zenoh_cpp/src/detail/ordered_hash.hpp @@ -0,0 +1,1704 @@ +/** + * MIT License + * + * Copyright (c) 2017 Thibaut Goetghebuer-Planchon + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + */ + +// Copied from https://github.com/Tessil/ordered-map/blob/bd8d5ef4149cd40783a486011778a2e7eedde441/include/tsl/ordered_hash.h + +#ifndef TSL_ORDERED_HASH_H +#define TSL_ORDERED_HASH_H + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +/** + * Macros for compatibility with GCC 4.8 + */ +#if (defined(__GNUC__) && (__GNUC__ == 4) && (__GNUC_MINOR__ < 9)) +#define TSL_OH_NO_CONTAINER_ERASE_CONST_ITERATOR +#define TSL_OH_NO_CONTAINER_EMPLACE_CONST_ITERATOR +#endif + +/** + * Only activate tsl_oh_assert if TSL_DEBUG is defined. + * This way we avoid the performance hit when NDEBUG is not defined with assert + * as tsl_oh_assert is used a lot (people usually compile with "-O3" and not + * "-O3 -DNDEBUG"). + */ +#ifdef TSL_DEBUG +#define tsl_oh_assert(expr) assert(expr) +#else +#define tsl_oh_assert(expr) (static_cast(0)) +#endif + +/** + * If exceptions are enabled, throw the exception passed in parameter, otherwise + * call std::terminate. + */ +#if (defined(__cpp_exceptions) || defined(__EXCEPTIONS) || \ + (defined(_MSC_VER) && defined(_CPPUNWIND))) && \ + !defined(TSL_NO_EXCEPTIONS) +#define TSL_OH_THROW_OR_TERMINATE(ex, msg) throw ex(msg) +#else +#define TSL_OH_NO_EXCEPTIONS +#ifdef TSL_DEBUG +#include +#define TSL_OH_THROW_OR_TERMINATE(ex, msg) \ + do { \ + std::cerr << msg << std::endl; \ + std::terminate(); \ + } while (0) +#else +#define TSL_OH_THROW_OR_TERMINATE(ex, msg) std::terminate() +#endif +#endif + +namespace tsl { + +namespace detail_ordered_hash { + +template +struct make_void { + using type = void; +}; + +template +struct has_is_transparent : std::false_type {}; + +template +struct has_is_transparent::type> + : std::true_type {}; + +template +struct is_vector : std::false_type {}; + +template +struct is_vector>::value>::type> + : std::true_type {}; + +// Only available in C++17, we need to be compatible with C++11 +template +const T& clamp(const T& v, const T& lo, const T& hi) { + return std::min(hi, std::max(lo, v)); +} + +template +static T numeric_cast(U value, + const char* error_message = "numeric_cast() failed.") { + T ret = static_cast(value); + if (static_cast(ret) != value) { + TSL_OH_THROW_OR_TERMINATE(std::runtime_error, error_message); + } + + const bool is_same_signedness = + (std::is_unsigned::value && std::is_unsigned::value) || + (std::is_signed::value && std::is_signed::value); + if (!is_same_signedness && (ret < T{}) != (value < U{})) { + TSL_OH_THROW_OR_TERMINATE(std::runtime_error, error_message); + } + + return ret; +} + +/** + * Fixed size type used to represent size_type values on serialization. Need to + * be big enough to represent a std::size_t on 32 and 64 bits platforms, and + * must be the same size on both platforms. + */ +using slz_size_type = std::uint64_t; +static_assert(std::numeric_limits::max() >= + std::numeric_limits::max(), + "slz_size_type must be >= std::size_t"); + +template +static T deserialize_value(Deserializer& deserializer) { + // MSVC < 2017 is not conformant, circumvent the problem by removing the + // template keyword +#if defined(_MSC_VER) && _MSC_VER < 1910 + return deserializer.Deserializer::operator()(); +#else + return deserializer.Deserializer::template operator()(); +#endif +} + +/** + * Each bucket entry stores an index which is the index in m_values + * corresponding to the bucket's value and a hash (which may be truncated to 32 + * bits depending on IndexType) corresponding to the hash of the value. + * + * The size of IndexType limits the size of the hash table to + * std::numeric_limits::max() - 1 elements (-1 due to a reserved + * value used to mark a bucket as empty). + */ +template +class bucket_entry { + static_assert(std::is_unsigned::value, + "IndexType must be an unsigned value."); + static_assert(std::numeric_limits::max() <= + std::numeric_limits::max(), + "std::numeric_limits::max() must be <= " + "std::numeric_limits::max()."); + + public: + using index_type = IndexType; + using truncated_hash_type = typename std::conditional< + std::numeric_limits::max() <= + std::numeric_limits::max(), + std::uint_least32_t, std::size_t>::type; + + bucket_entry() noexcept : m_index(EMPTY_MARKER_INDEX), m_hash(0) {} + + bool empty() const noexcept { return m_index == EMPTY_MARKER_INDEX; } + + void clear() noexcept { m_index = EMPTY_MARKER_INDEX; } + + index_type index() const noexcept { + tsl_oh_assert(!empty()); + return m_index; + } + + index_type& index_ref() noexcept { + tsl_oh_assert(!empty()); + return m_index; + } + + void set_index(index_type index) noexcept { + tsl_oh_assert(index <= max_size()); + + m_index = index; + } + + truncated_hash_type truncated_hash() const noexcept { + tsl_oh_assert(!empty()); + return m_hash; + } + + truncated_hash_type& truncated_hash_ref() noexcept { + tsl_oh_assert(!empty()); + return m_hash; + } + + void set_hash(std::size_t hash) noexcept { m_hash = truncate_hash(hash); } + + template + void serialize(Serializer& serializer) const { + const slz_size_type index = m_index; + serializer(index); + + const slz_size_type hash = m_hash; + serializer(hash); + } + + template + static bucket_entry deserialize(Deserializer& deserializer) { + const slz_size_type index = deserialize_value(deserializer); + const slz_size_type hash = deserialize_value(deserializer); + + bucket_entry bentry; + bentry.m_index = + numeric_cast(index, "Deserialized index is too big."); + bentry.m_hash = numeric_cast( + hash, "Deserialized hash is too big."); + + return bentry; + } + + static truncated_hash_type truncate_hash(std::size_t hash) noexcept { + return truncated_hash_type(hash); + } + + static std::size_t max_size() noexcept { + return static_cast(std::numeric_limits::max()) - + NB_RESERVED_INDEXES; + } + + private: + static const index_type EMPTY_MARKER_INDEX = + std::numeric_limits::max(); + static const std::size_t NB_RESERVED_INDEXES = 1; + + index_type m_index; + truncated_hash_type m_hash; +}; + +/** + * Internal common class used by ordered_map and ordered_set. + * + * ValueType is what will be stored by ordered_hash (usually std::pair + * for map and Key for set). + * + * KeySelect should be a FunctionObject which takes a ValueType in parameter and + * return a reference to the key. + * + * ValueSelect should be a FunctionObject which takes a ValueType in parameter + * and return a reference to the value. ValueSelect should be void if there is + * no value (in set for example). + * + * ValueTypeContainer is the container which will be used to store ValueType + * values. Usually a std::deque or std::vector. + * + * + * + * The ordered_hash structure is a hash table which preserves the order of + * insertion of the elements. To do so, it stores the values in the + * ValueTypeContainer (m_values) using emplace_back at each insertion of a new + * element. Another structure (m_buckets of type std::vector) will + * serve as buckets array for the hash table part. Each bucket stores an index + * which corresponds to the index in m_values where the bucket's value is and + * the (truncated) hash of this value. An index is used instead of a pointer to + * the value to reduce the size of each bucket entry. + * + * To resolve collisions in the buckets array, the structures use robin hood + * linear probing with backward shift deletion. + */ +template +class ordered_hash : private Hash, private KeyEqual { + private: + template + using has_mapped_type = + typename std::integral_constant::value>; + + static_assert( + std::is_same::value, + "ValueTypeContainer::value_type != ValueType. " + "Check that the ValueTypeContainer has 'Key' as type for a set or " + "'std::pair' as type for a map."); + + static_assert(std::is_same::value, + "ValueTypeContainer::allocator_type != Allocator. " + "Check that the allocator for ValueTypeContainer is the same " + "as Allocator."); + + static_assert(std::is_same::value, + "Allocator::value_type != ValueType. " + "Check that the allocator has 'Key' as type for a set or " + "'std::pair' as type for a map."); + + public: + template + class ordered_iterator; + + using key_type = typename KeySelect::key_type; + using value_type = ValueType; + using size_type = std::size_t; + using difference_type = std::ptrdiff_t; + using hasher = Hash; + using key_equal = KeyEqual; + using allocator_type = Allocator; + using reference = value_type&; + using const_reference = const value_type&; + using pointer = value_type*; + using const_pointer = const value_type*; + using iterator = ordered_iterator; + using const_iterator = ordered_iterator; + using reverse_iterator = std::reverse_iterator; + using const_reverse_iterator = std::reverse_iterator; + + using values_container_type = ValueTypeContainer; + + public: + template + class ordered_iterator { + friend class ordered_hash; + + private: + using iterator = typename std::conditional< + IsConst, typename values_container_type::const_iterator, + typename values_container_type::iterator>::type; + + ordered_iterator(iterator it) noexcept : m_iterator(it) {} + + public: + using iterator_category = std::random_access_iterator_tag; + using value_type = const typename ordered_hash::value_type; + using difference_type = typename iterator::difference_type; + using reference = value_type&; + using pointer = value_type*; + + ordered_iterator() noexcept {} + + // Copy constructor from iterator to const_iterator. + template ::type* = nullptr> + ordered_iterator(const ordered_iterator& other) noexcept + : m_iterator(other.m_iterator) {} + + ordered_iterator(const ordered_iterator& other) = default; + ordered_iterator(ordered_iterator&& other) = default; + ordered_iterator& operator=(const ordered_iterator& other) = default; + ordered_iterator& operator=(ordered_iterator&& other) = default; + + const typename ordered_hash::key_type& key() const { + return KeySelect()(*m_iterator); + } + + template ::value && + IsConst>::type* = nullptr> + const typename U::value_type& value() const { + return U()(*m_iterator); + } + + template ::value && + !IsConst>::type* = nullptr> + typename U::value_type& value() { + return U()(*m_iterator); + } + + reference operator*() const { return *m_iterator; } + pointer operator->() const { return m_iterator.operator->(); } + + ordered_iterator& operator++() { + ++m_iterator; + return *this; + } + ordered_iterator& operator--() { + --m_iterator; + return *this; + } + + ordered_iterator operator++(int) { + ordered_iterator tmp(*this); + ++(*this); + return tmp; + } + ordered_iterator operator--(int) { + ordered_iterator tmp(*this); + --(*this); + return tmp; + } + + reference operator[](difference_type n) const { return m_iterator[n]; } + + ordered_iterator& operator+=(difference_type n) { + m_iterator += n; + return *this; + } + ordered_iterator& operator-=(difference_type n) { + m_iterator -= n; + return *this; + } + + ordered_iterator operator+(difference_type n) { + ordered_iterator tmp(*this); + tmp += n; + return tmp; + } + ordered_iterator operator-(difference_type n) { + ordered_iterator tmp(*this); + tmp -= n; + return tmp; + } + + friend bool operator==(const ordered_iterator& lhs, + const ordered_iterator& rhs) { + return lhs.m_iterator == rhs.m_iterator; + } + + friend bool operator!=(const ordered_iterator& lhs, + const ordered_iterator& rhs) { + return lhs.m_iterator != rhs.m_iterator; + } + + friend bool operator<(const ordered_iterator& lhs, + const ordered_iterator& rhs) { + return lhs.m_iterator < rhs.m_iterator; + } + + friend bool operator>(const ordered_iterator& lhs, + const ordered_iterator& rhs) { + return lhs.m_iterator > rhs.m_iterator; + } + + friend bool operator<=(const ordered_iterator& lhs, + const ordered_iterator& rhs) { + return lhs.m_iterator <= rhs.m_iterator; + } + + friend bool operator>=(const ordered_iterator& lhs, + const ordered_iterator& rhs) { + return lhs.m_iterator >= rhs.m_iterator; + } + + friend ordered_iterator operator+(difference_type n, + const ordered_iterator& it) { + return n + it.m_iterator; + } + + friend difference_type operator-(const ordered_iterator& lhs, + const ordered_iterator& rhs) { + return lhs.m_iterator - rhs.m_iterator; + } + + private: + iterator m_iterator; + }; + + private: + using bucket_entry = tsl::detail_ordered_hash::bucket_entry; + + using buckets_container_allocator = typename std::allocator_traits< + allocator_type>::template rebind_alloc; + + using buckets_container_type = + std::vector; + + using truncated_hash_type = typename bucket_entry::truncated_hash_type; + using index_type = typename bucket_entry::index_type; + + public: + ordered_hash(size_type bucket_count, const Hash& hash, const KeyEqual& equal, + const Allocator& alloc, float max_load_factor) + : Hash(hash), + KeyEqual(equal), + m_buckets_data(alloc), + m_buckets(static_empty_bucket_ptr()), + m_hash_mask(0), + m_values(alloc), + m_grow_on_next_insert(false) { + if (bucket_count > max_bucket_count()) { + TSL_OH_THROW_OR_TERMINATE(std::length_error, + "The map exceeds its maximum size."); + } + + if (bucket_count > 0) { + bucket_count = round_up_to_power_of_two(bucket_count); + + m_buckets_data.resize(bucket_count); + m_buckets = m_buckets_data.data(), m_hash_mask = bucket_count - 1; + } + + this->max_load_factor(max_load_factor); + } + + ordered_hash(const ordered_hash& other) + : Hash(other), + KeyEqual(other), + m_buckets_data(other.m_buckets_data), + m_buckets(m_buckets_data.empty() ? static_empty_bucket_ptr() + : m_buckets_data.data()), + m_hash_mask(other.m_hash_mask), + m_values(other.m_values), + m_load_threshold(other.m_load_threshold), + m_max_load_factor(other.m_max_load_factor), + m_grow_on_next_insert(other.m_grow_on_next_insert) {} + + ordered_hash(ordered_hash&& other) noexcept( + std::is_nothrow_move_constructible< + Hash>::value&& std::is_nothrow_move_constructible::value&& + std::is_nothrow_move_constructible::value&& + std::is_nothrow_move_constructible::value) + : Hash(std::move(static_cast(other))), + KeyEqual(std::move(static_cast(other))), + m_buckets_data(std::move(other.m_buckets_data)), + m_buckets(m_buckets_data.empty() ? static_empty_bucket_ptr() + : m_buckets_data.data()), + m_hash_mask(other.m_hash_mask), + m_values(std::move(other.m_values)), + m_load_threshold(other.m_load_threshold), + m_max_load_factor(other.m_max_load_factor), + m_grow_on_next_insert(other.m_grow_on_next_insert) { + other.m_buckets_data.clear(); + other.m_buckets = static_empty_bucket_ptr(); + other.m_hash_mask = 0; + other.m_values.clear(); + other.m_load_threshold = 0; + other.m_grow_on_next_insert = false; + } + + ordered_hash& operator=(const ordered_hash& other) { + if (&other != this) { + Hash::operator=(other); + KeyEqual::operator=(other); + + m_buckets_data = other.m_buckets_data; + m_buckets = m_buckets_data.empty() ? static_empty_bucket_ptr() + : m_buckets_data.data(); + + m_hash_mask = other.m_hash_mask; + m_values = other.m_values; + m_load_threshold = other.m_load_threshold; + m_max_load_factor = other.m_max_load_factor; + m_grow_on_next_insert = other.m_grow_on_next_insert; + } + + return *this; + } + + ordered_hash& operator=(ordered_hash&& other) { + other.swap(*this); + other.clear(); + + return *this; + } + + allocator_type get_allocator() const { return m_values.get_allocator(); } + + /* + * Iterators + */ + iterator begin() noexcept { return iterator(m_values.begin()); } + + const_iterator begin() const noexcept { return cbegin(); } + + const_iterator cbegin() const noexcept { + return const_iterator(m_values.cbegin()); + } + + iterator end() noexcept { return iterator(m_values.end()); } + + const_iterator end() const noexcept { return cend(); } + + const_iterator cend() const noexcept { + return const_iterator(m_values.cend()); + } + + reverse_iterator rbegin() noexcept { + return reverse_iterator(m_values.end()); + } + + const_reverse_iterator rbegin() const noexcept { return rcbegin(); } + + const_reverse_iterator rcbegin() const noexcept { + return const_reverse_iterator(m_values.cend()); + } + + reverse_iterator rend() noexcept { + return reverse_iterator(m_values.begin()); + } + + const_reverse_iterator rend() const noexcept { return rcend(); } + + const_reverse_iterator rcend() const noexcept { + return const_reverse_iterator(m_values.cbegin()); + } + + /* + * Capacity + */ + bool empty() const noexcept { return m_values.empty(); } + + size_type size() const noexcept { return m_values.size(); } + + size_type max_size() const noexcept { + return std::min(bucket_entry::max_size(), m_values.max_size()); + } + + /* + * Modifiers + */ + void clear() noexcept { + for (auto& bucket : m_buckets_data) { + bucket.clear(); + } + + m_values.clear(); + m_grow_on_next_insert = false; + } + + template + std::pair insert(P&& value) { + return insert_impl(KeySelect()(value), std::forward

(value)); + } + + template + iterator insert_hint(const_iterator hint, P&& value) { + if (hint != cend() && + compare_keys(KeySelect()(*hint), KeySelect()(value))) { + return mutable_iterator(hint); + } + + return insert(std::forward

(value)).first; + } + + template + void insert(InputIt first, InputIt last) { + if (std::is_base_of< + std::forward_iterator_tag, + typename std::iterator_traits::iterator_category>::value) { + const auto nb_elements_insert = std::distance(first, last); + const size_type nb_free_buckets = m_load_threshold - size(); + tsl_oh_assert(m_load_threshold >= size()); + + if (nb_elements_insert > 0 && + nb_free_buckets < size_type(nb_elements_insert)) { + reserve(size() + size_type(nb_elements_insert)); + } + } + + for (; first != last; ++first) { + insert(*first); + } + } + + template + std::pair insert_or_assign(K&& key, M&& value) { + auto it = try_emplace(std::forward(key), std::forward(value)); + if (!it.second) { + it.first.value() = std::forward(value); + } + + return it; + } + + template + iterator insert_or_assign(const_iterator hint, K&& key, M&& obj) { + if (hint != cend() && compare_keys(KeySelect()(*hint), key)) { + auto it = mutable_iterator(hint); + it.value() = std::forward(obj); + + return it; + } + + return insert_or_assign(std::forward(key), std::forward(obj)).first; + } + + template + std::pair emplace(Args&&... args) { + return insert(value_type(std::forward(args)...)); + } + + template + iterator emplace_hint(const_iterator hint, Args&&... args) { + return insert_hint(hint, value_type(std::forward(args)...)); + } + + template + std::pair try_emplace(K&& key, Args&&... value_args) { + return insert_impl( + key, std::piecewise_construct, + std::forward_as_tuple(std::forward(key)), + std::forward_as_tuple(std::forward(value_args)...)); + } + + template + iterator try_emplace_hint(const_iterator hint, K&& key, Args&&... args) { + if (hint != cend() && compare_keys(KeySelect()(*hint), key)) { + return mutable_iterator(hint); + } + + return try_emplace(std::forward(key), std::forward(args)...).first; + } + + /** + * Here to avoid `template size_type erase(const K& key)` being used + * when we use an `iterator` instead of a `const_iterator`. + */ + iterator erase(iterator pos) { return erase(const_iterator(pos)); } + + iterator erase(const_iterator pos) { + tsl_oh_assert(pos != cend()); + + const std::size_t index_erase = iterator_to_index(pos); + + auto it_bucket = find_key(pos.key(), hash_key(pos.key())); + tsl_oh_assert(it_bucket != m_buckets_data.end()); + + erase_value_from_bucket(it_bucket); + + /* + * One element was removed from m_values, due to the left shift the next + * element is now at the position of the previous element (or end if none). + */ + return begin() + index_erase; + } + + iterator erase(const_iterator first, const_iterator last) { + if (first == last) { + return mutable_iterator(first); + } + + tsl_oh_assert(std::distance(first, last) > 0); + const std::size_t start_index = iterator_to_index(first); + const std::size_t nb_values = std::size_t(std::distance(first, last)); + const std::size_t end_index = start_index + nb_values; + + // Delete all values +#ifdef TSL_OH_NO_CONTAINER_ERASE_CONST_ITERATOR + auto next_it = m_values.erase(mutable_iterator(first).m_iterator, + mutable_iterator(last).m_iterator); +#else + auto next_it = m_values.erase(first.m_iterator, last.m_iterator); +#endif + + /* + * Mark the buckets corresponding to the values as empty and do a backward + * shift. + * + * Also, the erase operation on m_values has shifted all the values on the + * right of last.m_iterator. Adapt the indexes for these values. + */ + std::size_t ibucket = 0; + while (ibucket < m_buckets_data.size()) { + if (m_buckets[ibucket].empty()) { + ibucket++; + } else if (m_buckets[ibucket].index() >= start_index && + m_buckets[ibucket].index() < end_index) { + m_buckets[ibucket].clear(); + backward_shift(ibucket); + // Don't increment ibucket, backward_shift may have replaced current + // bucket. + } else if (m_buckets[ibucket].index() >= end_index) { + m_buckets[ibucket].set_index( + index_type(m_buckets[ibucket].index() - nb_values)); + ibucket++; + } else { + ibucket++; + } + } + + return iterator(next_it); + } + + template + size_type erase(const K& key) { + return erase(key, hash_key(key)); + } + + template + size_type erase(const K& key, std::size_t hash) { + return erase_impl(key, hash); + } + + void swap(ordered_hash& other) { + using std::swap; + + swap(static_cast(*this), static_cast(other)); + swap(static_cast(*this), static_cast(other)); + swap(m_buckets_data, other.m_buckets_data); + swap(m_buckets, other.m_buckets); + swap(m_hash_mask, other.m_hash_mask); + swap(m_values, other.m_values); + swap(m_load_threshold, other.m_load_threshold); + swap(m_max_load_factor, other.m_max_load_factor); + swap(m_grow_on_next_insert, other.m_grow_on_next_insert); + } + + /* + * Lookup + */ + template ::value>::type* = nullptr> + typename U::value_type& at(const K& key) { + return at(key, hash_key(key)); + } + + template ::value>::type* = nullptr> + typename U::value_type& at(const K& key, std::size_t hash) { + return const_cast( + static_cast(this)->at(key, hash)); + } + + template ::value>::type* = nullptr> + const typename U::value_type& at(const K& key) const { + return at(key, hash_key(key)); + } + + template ::value>::type* = nullptr> + const typename U::value_type& at(const K& key, std::size_t hash) const { + auto it = find(key, hash); + if (it != end()) { + return it.value(); + } else { + TSL_OH_THROW_OR_TERMINATE(std::out_of_range, "Couldn't find the key."); + } + } + + template ::value>::type* = nullptr> + typename U::value_type& operator[](K&& key) { + return try_emplace(std::forward(key)).first.value(); + } + + template + size_type count(const K& key) const { + return count(key, hash_key(key)); + } + + template + size_type count(const K& key, std::size_t hash) const { + if (find(key, hash) == cend()) { + return 0; + } else { + return 1; + } + } + + template + iterator find(const K& key) { + return find(key, hash_key(key)); + } + + template + iterator find(const K& key, std::size_t hash) { + auto it_bucket = find_key(key, hash); + return (it_bucket != m_buckets_data.end()) + ? iterator(m_values.begin() + it_bucket->index()) + : end(); + } + + template + const_iterator find(const K& key) const { + return find(key, hash_key(key)); + } + + template + const_iterator find(const K& key, std::size_t hash) const { + auto it_bucket = find_key(key, hash); + return (it_bucket != m_buckets_data.cend()) + ? const_iterator(m_values.begin() + it_bucket->index()) + : end(); + } + + template + bool contains(const K& key) const { + return contains(key, hash_key(key)); + } + + template + bool contains(const K& key, std::size_t hash) const { + return find(key, hash) != cend(); + } + + template + std::pair equal_range(const K& key) { + return equal_range(key, hash_key(key)); + } + + template + std::pair equal_range(const K& key, std::size_t hash) { + iterator it = find(key, hash); + return std::make_pair(it, (it == end()) ? it : std::next(it)); + } + + template + std::pair equal_range(const K& key) const { + return equal_range(key, hash_key(key)); + } + + template + std::pair equal_range( + const K& key, std::size_t hash) const { + const_iterator it = find(key, hash); + return std::make_pair(it, (it == cend()) ? it : std::next(it)); + } + + /* + * Bucket interface + */ + size_type bucket_count() const { return m_buckets_data.size(); } + + size_type max_bucket_count() const { return m_buckets_data.max_size(); } + + /* + * Hash policy + */ + float load_factor() const { + if (bucket_count() == 0) { + return 0; + } + + return float(size()) / float(bucket_count()); + } + + float max_load_factor() const { return m_max_load_factor; } + + void max_load_factor(float ml) { + m_max_load_factor = clamp(ml, float(MAX_LOAD_FACTOR__MINIMUM), + float(MAX_LOAD_FACTOR__MAXIMUM)); + + m_max_load_factor = ml; + m_load_threshold = size_type(float(bucket_count()) * m_max_load_factor); + } + + void rehash(size_type count) { + count = std::max(count, + size_type(std::ceil(float(size()) / max_load_factor()))); + rehash_impl(count); + } + + void reserve(size_type count) { + reserve_space_for_values(count); + + count = size_type(std::ceil(float(count) / max_load_factor())); + rehash(count); + } + + /* + * Observers + */ + hasher hash_function() const { return static_cast(*this); } + + key_equal key_eq() const { return static_cast(*this); } + + /* + * Other + */ + iterator mutable_iterator(const_iterator pos) { + return iterator(m_values.begin() + iterator_to_index(pos)); + } + + iterator nth(size_type index) { + tsl_oh_assert(index <= size()); + return iterator(m_values.begin() + index); + } + + const_iterator nth(size_type index) const { + tsl_oh_assert(index <= size()); + return const_iterator(m_values.cbegin() + index); + } + + const_reference front() const { + tsl_oh_assert(!empty()); + return m_values.front(); + } + + const_reference back() const { + tsl_oh_assert(!empty()); + return m_values.back(); + } + + const values_container_type& values_container() const noexcept { + return m_values; + } + + values_container_type release() { + values_container_type ret; + for (auto& bucket : m_buckets_data) { + bucket.clear(); + } + m_grow_on_next_insert = false; + std::swap(ret, m_values); + return ret; + } + + template ::value>::type* = nullptr> + const typename values_container_type::value_type* data() const noexcept { + return m_values.data(); + } + + template ::value>::type* = nullptr> + size_type capacity() const noexcept { + return m_values.capacity(); + } + + void shrink_to_fit() { m_values.shrink_to_fit(); } + + template + std::pair insert_at_position(const_iterator pos, P&& value) { + return insert_at_position_impl(pos.m_iterator, KeySelect()(value), + std::forward

(value)); + } + + template + std::pair emplace_at_position(const_iterator pos, + Args&&... args) { + return insert_at_position(pos, value_type(std::forward(args)...)); + } + + template + std::pair try_emplace_at_position(const_iterator pos, K&& key, + Args&&... value_args) { + return insert_at_position_impl( + pos.m_iterator, key, std::piecewise_construct, + std::forward_as_tuple(std::forward(key)), + std::forward_as_tuple(std::forward(value_args)...)); + } + + void pop_back() { + tsl_oh_assert(!empty()); + erase(std::prev(end())); + } + + /** + * Here to avoid `template size_type unordered_erase(const K& key)` + * being used when we use a iterator instead of a const_iterator. + */ + iterator unordered_erase(iterator pos) { + return unordered_erase(const_iterator(pos)); + } + + iterator unordered_erase(const_iterator pos) { + const std::size_t index_erase = iterator_to_index(pos); + unordered_erase(pos.key()); + + /* + * One element was deleted, index_erase now points to the next element as + * the elements after the deleted value were shifted to the left in m_values + * (will be end() if we deleted the last element). + */ + return begin() + index_erase; + } + + template + size_type unordered_erase(const K& key) { + return unordered_erase(key, hash_key(key)); + } + + template + size_type unordered_erase(const K& key, std::size_t hash) { + auto it_bucket_key = find_key(key, hash); + if (it_bucket_key == m_buckets_data.end()) { + return 0; + } + + /** + * If we are not erasing the last element in m_values, we swap + * the element we are erasing with the last element. We then would + * just have to do a pop_back() in m_values. + */ + if (!compare_keys(key, KeySelect()(back()))) { + auto it_bucket_last_elem = + find_key(KeySelect()(back()), hash_key(KeySelect()(back()))); + tsl_oh_assert(it_bucket_last_elem != m_buckets_data.end()); + tsl_oh_assert(it_bucket_last_elem->index() == m_values.size() - 1); + + using std::swap; + swap(m_values[it_bucket_key->index()], + m_values[it_bucket_last_elem->index()]); + swap(it_bucket_key->index_ref(), it_bucket_last_elem->index_ref()); + } + + erase_value_from_bucket(it_bucket_key); + + return 1; + } + + /** + * Remove all entries for which the given predicate matches. + */ + template + size_type erase_if(Predicate& pred) { + // Get the bucket associated with the given element. + auto get_bucket = [this](typename values_container_type::iterator it) { + return find_key(KeySelect()(*it), hash_key(KeySelect()(*it))); + }; + // Clear a bucket without touching the container holding the values. + auto clear_bucket = [this](typename buckets_container_type::iterator it) { + tsl_oh_assert(it != m_buckets_data.end()); + it->clear(); + backward_shift(std::size_t(std::distance(m_buckets_data.begin(), it))); + }; + // Ensure that only const references are passed to the predicate. + auto cpred = [&pred](typename values_container_type::const_reference x) { + return pred(x); + }; + + // Find first element that matches the predicate. + const auto last = m_values.end(); + auto first = std::find_if(m_values.begin(), last, cpred); + if (first == last) { + return 0; + } + // Remove all elements that match the predicate. + clear_bucket(get_bucket(first)); + for (auto it = std::next(first); it != last; ++it) { + auto it_bucket = get_bucket(it); + if (cpred(*it)) { + clear_bucket(it_bucket); + } else { + it_bucket->set_index( + static_cast(std::distance(m_values.begin(), first))); + *first++ = std::move(*it); + } + } + // Resize the vector and return the number of deleted elements. + auto deleted = static_cast(std::distance(first, last)); + m_values.erase(first, last); + return deleted; + } + + template + void serialize(Serializer& serializer) const { + serialize_impl(serializer); + } + + template + void deserialize(Deserializer& deserializer, bool hash_compatible) { + deserialize_impl(deserializer, hash_compatible); + } + + friend bool operator==(const ordered_hash& lhs, const ordered_hash& rhs) { + return lhs.m_values == rhs.m_values; + } + + friend bool operator!=(const ordered_hash& lhs, const ordered_hash& rhs) { + return lhs.m_values != rhs.m_values; + } + + friend bool operator<(const ordered_hash& lhs, const ordered_hash& rhs) { + return lhs.m_values < rhs.m_values; + } + + friend bool operator<=(const ordered_hash& lhs, const ordered_hash& rhs) { + return lhs.m_values <= rhs.m_values; + } + + friend bool operator>(const ordered_hash& lhs, const ordered_hash& rhs) { + return lhs.m_values > rhs.m_values; + } + + friend bool operator>=(const ordered_hash& lhs, const ordered_hash& rhs) { + return lhs.m_values >= rhs.m_values; + } + + private: + template + std::size_t hash_key(const K& key) const { + return Hash::operator()(key); + } + + template + bool compare_keys(const K1& key1, const K2& key2) const { + return KeyEqual::operator()(key1, key2); + } + + template + typename buckets_container_type::iterator find_key(const K& key, + std::size_t hash) { + auto it = static_cast(this)->find_key(key, hash); + return m_buckets_data.begin() + std::distance(m_buckets_data.cbegin(), it); + } + + /** + * Return bucket which has the key 'key' or m_buckets_data.end() if none. + * + * From the bucket_for_hash, search for the value until we either find an + * empty bucket or a bucket which has a value with a distance from its ideal + * bucket longer than the probe length for the value we are looking for. + */ + template + typename buckets_container_type::const_iterator find_key( + const K& key, std::size_t hash) const { + for (std::size_t ibucket = bucket_for_hash(hash), + dist_from_ideal_bucket = 0; + ; ibucket = next_bucket(ibucket), dist_from_ideal_bucket++) { + if (m_buckets[ibucket].empty()) { + return m_buckets_data.end(); + } else if (m_buckets[ibucket].truncated_hash() == + bucket_entry::truncate_hash(hash) && + compare_keys( + key, KeySelect()(m_values[m_buckets[ibucket].index()]))) { + return m_buckets_data.begin() + ibucket; + } else if (dist_from_ideal_bucket > distance_from_ideal_bucket(ibucket)) { + return m_buckets_data.end(); + } + } + } + + void rehash_impl(size_type bucket_count) { + tsl_oh_assert(bucket_count >= + size_type(std::ceil(float(size()) / max_load_factor()))); + + if (bucket_count > max_bucket_count()) { + TSL_OH_THROW_OR_TERMINATE(std::length_error, + "The map exceeds its maximum size."); + } + + if (bucket_count > 0) { + bucket_count = round_up_to_power_of_two(bucket_count); + } + + if (bucket_count == this->bucket_count()) { + return; + } + + buckets_container_type old_buckets(bucket_count); + m_buckets_data.swap(old_buckets); + m_buckets = m_buckets_data.empty() ? static_empty_bucket_ptr() + : m_buckets_data.data(); + // Everything should be noexcept from here. + + m_hash_mask = (bucket_count > 0) ? (bucket_count - 1) : 0; + this->max_load_factor(m_max_load_factor); + m_grow_on_next_insert = false; + + for (const bucket_entry& old_bucket : old_buckets) { + if (old_bucket.empty()) { + continue; + } + + truncated_hash_type insert_hash = old_bucket.truncated_hash(); + index_type insert_index = old_bucket.index(); + + for (std::size_t ibucket = bucket_for_hash(insert_hash), + dist_from_ideal_bucket = 0; + ; ibucket = next_bucket(ibucket), dist_from_ideal_bucket++) { + if (m_buckets[ibucket].empty()) { + m_buckets[ibucket].set_index(insert_index); + m_buckets[ibucket].set_hash(insert_hash); + break; + } + + const std::size_t distance = distance_from_ideal_bucket(ibucket); + if (dist_from_ideal_bucket > distance) { + std::swap(insert_index, m_buckets[ibucket].index_ref()); + std::swap(insert_hash, m_buckets[ibucket].truncated_hash_ref()); + dist_from_ideal_bucket = distance; + } + } + } + } + + template ::value>::type* = nullptr> + void reserve_space_for_values(size_type count) { + m_values.reserve(count); + } + + template ::value>::type* = nullptr> + void reserve_space_for_values(size_type /*count*/) {} + + /** + * Swap the empty bucket with the values on its right until we cross another + * empty bucket or if the other bucket has a distance_from_ideal_bucket == 0. + */ + void backward_shift(std::size_t empty_ibucket) noexcept { + tsl_oh_assert(m_buckets[empty_ibucket].empty()); + + std::size_t previous_ibucket = empty_ibucket; + for (std::size_t current_ibucket = next_bucket(previous_ibucket); + !m_buckets[current_ibucket].empty() && + distance_from_ideal_bucket(current_ibucket) > 0; + previous_ibucket = current_ibucket, + current_ibucket = next_bucket(current_ibucket)) { + std::swap(m_buckets[current_ibucket], m_buckets[previous_ibucket]); + } + } + + void erase_value_from_bucket( + typename buckets_container_type::iterator it_bucket) { + tsl_oh_assert(it_bucket != m_buckets_data.end() && !it_bucket->empty()); + + m_values.erase(m_values.begin() + it_bucket->index()); + + /* + * m_values.erase shifted all the values on the right of the erased value, + * shift the indexes by -1 in the buckets array for these values. + */ + if (it_bucket->index() != m_values.size()) { + shift_indexes_in_buckets(it_bucket->index() + 1, -1); + } + + // Mark the bucket as empty and do a backward shift of the values on the + // right + it_bucket->clear(); + backward_shift( + std::size_t(std::distance(m_buckets_data.begin(), it_bucket))); + } + + /** + * Shift any index >= index_above_or_equal in m_buckets_data by delta. + * + * delta must be equal to 1 or -1. + */ + void shift_indexes_in_buckets(index_type index_above_or_equal, + int delta) noexcept { + tsl_oh_assert(delta == 1 || delta == -1); + + for (bucket_entry& bucket : m_buckets_data) { + if (!bucket.empty() && bucket.index() >= index_above_or_equal) { + tsl_oh_assert(delta >= 0 || + bucket.index() >= static_cast(-delta)); + tsl_oh_assert(delta <= 0 || + (bucket_entry::max_size() - bucket.index()) >= + static_cast(delta)); + bucket.set_index(static_cast(bucket.index() + delta)); + } + } + } + + template + size_type erase_impl(const K& key, std::size_t hash) { + auto it_bucket = find_key(key, hash); + if (it_bucket != m_buckets_data.end()) { + erase_value_from_bucket(it_bucket); + + return 1; + } else { + return 0; + } + } + + /** + * Insert the element at the end. + */ + template + std::pair insert_impl(const K& key, + Args&&... value_type_args) { + const std::size_t hash = hash_key(key); + + std::size_t ibucket = bucket_for_hash(hash); + std::size_t dist_from_ideal_bucket = 0; + + while (!m_buckets[ibucket].empty() && + dist_from_ideal_bucket <= distance_from_ideal_bucket(ibucket)) { + if (m_buckets[ibucket].truncated_hash() == + bucket_entry::truncate_hash(hash) && + compare_keys(key, + KeySelect()(m_values[m_buckets[ibucket].index()]))) { + return std::make_pair(begin() + m_buckets[ibucket].index(), false); + } + + ibucket = next_bucket(ibucket); + dist_from_ideal_bucket++; + } + + if (size() >= max_size()) { + TSL_OH_THROW_OR_TERMINATE( + std::length_error, "We reached the maximum size for the hash table."); + } + + if (grow_on_high_load()) { + ibucket = bucket_for_hash(hash); + dist_from_ideal_bucket = 0; + } + + m_values.emplace_back(std::forward(value_type_args)...); + insert_index(ibucket, dist_from_ideal_bucket, + index_type(m_values.size() - 1), + bucket_entry::truncate_hash(hash)); + + return std::make_pair(std::prev(end()), true); + } + + /** + * Insert the element before insert_position. + */ + template + std::pair insert_at_position_impl( + typename values_container_type::const_iterator insert_position, + const K& key, Args&&... value_type_args) { + const std::size_t hash = hash_key(key); + + std::size_t ibucket = bucket_for_hash(hash); + std::size_t dist_from_ideal_bucket = 0; + + while (!m_buckets[ibucket].empty() && + dist_from_ideal_bucket <= distance_from_ideal_bucket(ibucket)) { + if (m_buckets[ibucket].truncated_hash() == + bucket_entry::truncate_hash(hash) && + compare_keys(key, + KeySelect()(m_values[m_buckets[ibucket].index()]))) { + return std::make_pair(begin() + m_buckets[ibucket].index(), false); + } + + ibucket = next_bucket(ibucket); + dist_from_ideal_bucket++; + } + + if (size() >= max_size()) { + TSL_OH_THROW_OR_TERMINATE( + std::length_error, "We reached the maximum size for the hash table."); + } + + if (grow_on_high_load()) { + ibucket = bucket_for_hash(hash); + dist_from_ideal_bucket = 0; + } + + const index_type index_insert_position = + index_type(std::distance(m_values.cbegin(), insert_position)); + +#ifdef TSL_OH_NO_CONTAINER_EMPLACE_CONST_ITERATOR + m_values.emplace( + m_values.begin() + std::distance(m_values.cbegin(), insert_position), + std::forward(value_type_args)...); +#else + m_values.emplace(insert_position, std::forward(value_type_args)...); +#endif + + /* + * The insertion didn't happend at the end of the m_values container, + * we need to shift the indexes in m_buckets_data. + */ + if (index_insert_position != m_values.size() - 1) { + shift_indexes_in_buckets(index_insert_position, 1); + } + + insert_index(ibucket, dist_from_ideal_bucket, index_insert_position, + bucket_entry::truncate_hash(hash)); + + return std::make_pair(iterator(m_values.begin() + index_insert_position), + true); + } + + void insert_index(std::size_t ibucket, std::size_t dist_from_ideal_bucket, + index_type index_insert, + truncated_hash_type hash_insert) noexcept { + while (!m_buckets[ibucket].empty()) { + const std::size_t distance = distance_from_ideal_bucket(ibucket); + if (dist_from_ideal_bucket > distance) { + std::swap(index_insert, m_buckets[ibucket].index_ref()); + std::swap(hash_insert, m_buckets[ibucket].truncated_hash_ref()); + + dist_from_ideal_bucket = distance; + } + + ibucket = next_bucket(ibucket); + dist_from_ideal_bucket++; + + if (dist_from_ideal_bucket > REHASH_ON_HIGH_NB_PROBES__NPROBES && + !m_grow_on_next_insert && + load_factor() >= REHASH_ON_HIGH_NB_PROBES__MIN_LOAD_FACTOR) { + // We don't want to grow the map now as we need this method to be + // noexcept. Do it on next insert. + m_grow_on_next_insert = true; + } + } + + m_buckets[ibucket].set_index(index_insert); + m_buckets[ibucket].set_hash(hash_insert); + } + + std::size_t distance_from_ideal_bucket(std::size_t ibucket) const noexcept { + const std::size_t ideal_bucket = + bucket_for_hash(m_buckets[ibucket].truncated_hash()); + + if (ibucket >= ideal_bucket) { + return ibucket - ideal_bucket; + } + // If the bucket is smaller than the ideal bucket for the value, there was a + // wrapping at the end of the bucket array due to the modulo. + else { + return (bucket_count() + ibucket) - ideal_bucket; + } + } + + std::size_t next_bucket(std::size_t index) const noexcept { + tsl_oh_assert(index < m_buckets_data.size()); + + index++; + return (index < m_buckets_data.size()) ? index : 0; + } + + std::size_t bucket_for_hash(std::size_t hash) const noexcept { + return hash & m_hash_mask; + } + + std::size_t iterator_to_index(const_iterator it) const noexcept { + const auto dist = std::distance(cbegin(), it); + tsl_oh_assert(dist >= 0); + + return std::size_t(dist); + } + + /** + * Return true if the map has been rehashed. + */ + bool grow_on_high_load() { + if (m_grow_on_next_insert || size() >= m_load_threshold) { + rehash_impl(std::max(size_type(1), bucket_count() * 2)); + m_grow_on_next_insert = false; + + return true; + } else { + return false; + } + } + + template + void serialize_impl(Serializer& serializer) const { + const slz_size_type version = SERIALIZATION_PROTOCOL_VERSION; + serializer(version); + + const slz_size_type nb_elements = m_values.size(); + serializer(nb_elements); + + const slz_size_type bucket_count = m_buckets_data.size(); + serializer(bucket_count); + + const float max_load_factor = m_max_load_factor; + serializer(max_load_factor); + + for (const value_type& value : m_values) { + serializer(value); + } + + for (const bucket_entry& bucket : m_buckets_data) { + bucket.serialize(serializer); + } + } + + template + void deserialize_impl(Deserializer& deserializer, bool hash_compatible) { + tsl_oh_assert(m_buckets_data.empty()); // Current hash table must be empty + + const slz_size_type version = + deserialize_value(deserializer); + // For now we only have one version of the serialization protocol. + // If it doesn't match there is a problem with the file. + if (version != SERIALIZATION_PROTOCOL_VERSION) { + TSL_OH_THROW_OR_TERMINATE(std::runtime_error, + "Can't deserialize the ordered_map/set. " + "The protocol version header is invalid."); + } + + const slz_size_type nb_elements = + deserialize_value(deserializer); + const slz_size_type bucket_count_ds = + deserialize_value(deserializer); + const float max_load_factor = deserialize_value(deserializer); + + if (max_load_factor < MAX_LOAD_FACTOR__MINIMUM || + max_load_factor > MAX_LOAD_FACTOR__MAXIMUM) { + TSL_OH_THROW_OR_TERMINATE( + std::runtime_error, + "Invalid max_load_factor. Check that the serializer " + "and deserializer support floats correctly as they " + "can be converted implicitly to ints."); + } + + this->max_load_factor(max_load_factor); + + if (bucket_count_ds == 0) { + tsl_oh_assert(nb_elements == 0); + return; + } + + if (!hash_compatible) { + reserve(numeric_cast(nb_elements, + "Deserialized nb_elements is too big.")); + for (slz_size_type el = 0; el < nb_elements; el++) { + insert(deserialize_value(deserializer)); + } + } else { + m_buckets_data.reserve(numeric_cast( + bucket_count_ds, "Deserialized bucket_count is too big.")); + m_buckets = m_buckets_data.data(), + m_hash_mask = m_buckets_data.capacity() - 1; + + reserve_space_for_values(numeric_cast( + nb_elements, "Deserialized nb_elements is too big.")); + for (slz_size_type el = 0; el < nb_elements; el++) { + m_values.push_back(deserialize_value(deserializer)); + } + + for (slz_size_type b = 0; b < bucket_count_ds; b++) { + m_buckets_data.push_back(bucket_entry::deserialize(deserializer)); + } + } + } + + static std::size_t round_up_to_power_of_two(std::size_t value) { + if (is_power_of_two(value)) { + return value; + } + + if (value == 0) { + return 1; + } + + --value; + for (std::size_t i = 1; i < sizeof(std::size_t) * CHAR_BIT; i *= 2) { + value |= value >> i; + } + + return value + 1; + } + + static constexpr bool is_power_of_two(std::size_t value) { + return value != 0 && (value & (value - 1)) == 0; + } + + public: + static const size_type DEFAULT_INIT_BUCKETS_SIZE = 0; + static constexpr float DEFAULT_MAX_LOAD_FACTOR = 0.75f; + + private: + static constexpr float MAX_LOAD_FACTOR__MINIMUM = 0.1f; + static constexpr float MAX_LOAD_FACTOR__MAXIMUM = 0.95f; + + static const size_type REHASH_ON_HIGH_NB_PROBES__NPROBES = 128; + static constexpr float REHASH_ON_HIGH_NB_PROBES__MIN_LOAD_FACTOR = 0.15f; + + /** + * Protocol version currenlty used for serialization. + */ + static const slz_size_type SERIALIZATION_PROTOCOL_VERSION = 1; + + /** + * Return an always valid pointer to an static empty bucket_entry with + * last_bucket() == true. + */ + bucket_entry* static_empty_bucket_ptr() { + static bucket_entry empty_bucket; + return &empty_bucket; + } + + private: + buckets_container_type m_buckets_data; + + /** + * Points to m_buckets_data.data() if !m_buckets_data.empty() otherwise points + * to static_empty_bucket_ptr. This variable is useful to avoid the cost of + * checking if m_buckets_data is empty when trying to find an element. + * + * TODO Remove m_buckets_data and only use a pointer+size instead of a + * pointer+vector to save some space in the ordered_hash object. + */ + bucket_entry* m_buckets; + + size_type m_hash_mask; + + values_container_type m_values; + + size_type m_load_threshold; + float m_max_load_factor; + + bool m_grow_on_next_insert; +}; + +} // end namespace detail_ordered_hash + +} // end namespace tsl + +#endif diff --git a/rmw_zenoh_cpp/src/detail/ordered_map.hpp b/rmw_zenoh_cpp/src/detail/ordered_map.hpp new file mode 100644 index 00000000..14303f94 --- /dev/null +++ b/rmw_zenoh_cpp/src/detail/ordered_map.hpp @@ -0,0 +1,999 @@ +/** + * MIT License + * + * Copyright (c) 2017 Thibaut Goetghebuer-Planchon + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + */ + +// Copied from https://github.com/Tessil/ordered-map/blob/bd8d5ef4149cd40783a486011778a2e7eedde441/include/tsl/ordered_map.h + +#ifndef TSL_ORDERED_MAP_H +#define TSL_ORDERED_MAP_H + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "ordered_hash.hpp" + +namespace tsl { + +/** + * Implementation of an hash map using open addressing with robin hood with + * backshift delete to resolve collisions. + * + * The particularity of this hash map is that it remembers the order in which + * the elements were added and provide a way to access the structure which + * stores these values through the 'values_container()' method. The used + * container is defined by ValueTypeContainer, by default a std::deque is used + * (grows faster) but a std::vector may be used. In this case the map provides a + * 'data()' method which give a direct access to the memory used to store the + * values (which can be useful to communicate with C API's). + * + * The Key and T must be copy constructible and/or move constructible. To use + * `unordered_erase` they both must be swappable. + * + * The behaviour of the hash map is undefined if the destructor of Key or T + * throws an exception. + * + * By default the maximum size of a map is limited to 2^32 - 1 values, if needed + * this can be changed through the IndexType template parameter. Using an + * `uint64_t` will raise this limit to 2^64 - 1 values but each bucket will use + * 16 bytes instead of 8 bytes in addition to the space needed to store the + * values. + * + * Iterators invalidation: + * - clear, operator=, reserve, rehash: always invalidate the iterators (also + * invalidate end()). + * - insert, emplace, emplace_hint, operator[]: when a std::vector is used as + * ValueTypeContainer and if size() < capacity(), only end(). Otherwise all the + * iterators are invalidated if an insert occurs. + * - erase, unordered_erase: when a std::vector is used as ValueTypeContainer + * invalidate the iterator of the erased element and all the ones after the + * erased element (including end()). Otherwise all the iterators are invalidated + * if an erase occurs. + */ +template , + class KeyEqual = std::equal_to, + class Allocator = std::allocator>, + class ValueTypeContainer = std::deque, Allocator>, + class IndexType = std::uint_least32_t> +class ordered_map { + private: + template + using has_is_transparent = tsl::detail_ordered_hash::has_is_transparent; + + class KeySelect { + public: + using key_type = Key; + + const key_type& operator()( + const std::pair& key_value) const noexcept { + return key_value.first; + } + + key_type& operator()(std::pair& key_value) noexcept { + return key_value.first; + } + }; + + class ValueSelect { + public: + using value_type = T; + + const value_type& operator()( + const std::pair& key_value) const noexcept { + return key_value.second; + } + + value_type& operator()(std::pair& key_value) noexcept { + return key_value.second; + } + }; + + using ht = + detail_ordered_hash::ordered_hash, KeySelect, + ValueSelect, Hash, KeyEqual, Allocator, + ValueTypeContainer, IndexType>; + + public: + using key_type = typename ht::key_type; + using mapped_type = T; + using value_type = typename ht::value_type; + using size_type = typename ht::size_type; + using difference_type = typename ht::difference_type; + using hasher = typename ht::hasher; + using key_equal = typename ht::key_equal; + using allocator_type = typename ht::allocator_type; + using reference = typename ht::reference; + using const_reference = typename ht::const_reference; + using pointer = typename ht::pointer; + using const_pointer = typename ht::const_pointer; + using iterator = typename ht::iterator; + using const_iterator = typename ht::const_iterator; + using reverse_iterator = typename ht::reverse_iterator; + using const_reverse_iterator = typename ht::const_reverse_iterator; + + using values_container_type = typename ht::values_container_type; + + /* + * Constructors + */ + ordered_map() : ordered_map(ht::DEFAULT_INIT_BUCKETS_SIZE) {} + + explicit ordered_map(size_type bucket_count, const Hash& hash = Hash(), + const KeyEqual& equal = KeyEqual(), + const Allocator& alloc = Allocator()) + : m_ht(bucket_count, hash, equal, alloc, ht::DEFAULT_MAX_LOAD_FACTOR) {} + + ordered_map(size_type bucket_count, const Allocator& alloc) + : ordered_map(bucket_count, Hash(), KeyEqual(), alloc) {} + + ordered_map(size_type bucket_count, const Hash& hash, const Allocator& alloc) + : ordered_map(bucket_count, hash, KeyEqual(), alloc) {} + + explicit ordered_map(const Allocator& alloc) + : ordered_map(ht::DEFAULT_INIT_BUCKETS_SIZE, alloc) {} + + template + ordered_map(InputIt first, InputIt last, + size_type bucket_count = ht::DEFAULT_INIT_BUCKETS_SIZE, + const Hash& hash = Hash(), const KeyEqual& equal = KeyEqual(), + const Allocator& alloc = Allocator()) + : ordered_map(bucket_count, hash, equal, alloc) { + insert(first, last); + } + + template + ordered_map(InputIt first, InputIt last, size_type bucket_count, + const Allocator& alloc) + : ordered_map(first, last, bucket_count, Hash(), KeyEqual(), alloc) {} + + template + ordered_map(InputIt first, InputIt last, size_type bucket_count, + const Hash& hash, const Allocator& alloc) + : ordered_map(first, last, bucket_count, hash, KeyEqual(), alloc) {} + + ordered_map(std::initializer_list init, + size_type bucket_count = ht::DEFAULT_INIT_BUCKETS_SIZE, + const Hash& hash = Hash(), const KeyEqual& equal = KeyEqual(), + const Allocator& alloc = Allocator()) + : ordered_map(init.begin(), init.end(), bucket_count, hash, equal, + alloc) {} + + ordered_map(std::initializer_list init, size_type bucket_count, + const Allocator& alloc) + : ordered_map(init.begin(), init.end(), bucket_count, Hash(), KeyEqual(), + alloc) {} + + ordered_map(std::initializer_list init, size_type bucket_count, + const Hash& hash, const Allocator& alloc) + : ordered_map(init.begin(), init.end(), bucket_count, hash, KeyEqual(), + alloc) {} + + ordered_map& operator=(std::initializer_list ilist) { + m_ht.clear(); + + m_ht.reserve(ilist.size()); + m_ht.insert(ilist.begin(), ilist.end()); + + return *this; + } + + allocator_type get_allocator() const { return m_ht.get_allocator(); } + + /* + * Iterators + */ + iterator begin() noexcept { return m_ht.begin(); } + const_iterator begin() const noexcept { return m_ht.begin(); } + const_iterator cbegin() const noexcept { return m_ht.cbegin(); } + + iterator end() noexcept { return m_ht.end(); } + const_iterator end() const noexcept { return m_ht.end(); } + const_iterator cend() const noexcept { return m_ht.cend(); } + + reverse_iterator rbegin() noexcept { return m_ht.rbegin(); } + const_reverse_iterator rbegin() const noexcept { return m_ht.rbegin(); } + const_reverse_iterator rcbegin() const noexcept { return m_ht.rcbegin(); } + + reverse_iterator rend() noexcept { return m_ht.rend(); } + const_reverse_iterator rend() const noexcept { return m_ht.rend(); } + const_reverse_iterator rcend() const noexcept { return m_ht.rcend(); } + + /* + * Capacity + */ + bool empty() const noexcept { return m_ht.empty(); } + size_type size() const noexcept { return m_ht.size(); } + size_type max_size() const noexcept { return m_ht.max_size(); } + + /* + * Modifiers + */ + void clear() noexcept { m_ht.clear(); } + + std::pair insert(const value_type& value) { + return m_ht.insert(value); + } + + template ::value>::type* = nullptr> + std::pair insert(P&& value) { + return m_ht.emplace(std::forward

(value)); + } + + std::pair insert(value_type&& value) { + return m_ht.insert(std::move(value)); + } + + iterator insert(const_iterator hint, const value_type& value) { + return m_ht.insert_hint(hint, value); + } + + template ::value>::type* = nullptr> + iterator insert(const_iterator hint, P&& value) { + return m_ht.emplace_hint(hint, std::forward

(value)); + } + + iterator insert(const_iterator hint, value_type&& value) { + return m_ht.insert_hint(hint, std::move(value)); + } + + template + void insert(InputIt first, InputIt last) { + m_ht.insert(first, last); + } + void insert(std::initializer_list ilist) { + m_ht.insert(ilist.begin(), ilist.end()); + } + + template + std::pair insert_or_assign(const key_type& k, M&& obj) { + return m_ht.insert_or_assign(k, std::forward(obj)); + } + + template + std::pair insert_or_assign(key_type&& k, M&& obj) { + return m_ht.insert_or_assign(std::move(k), std::forward(obj)); + } + + template + iterator insert_or_assign(const_iterator hint, const key_type& k, M&& obj) { + return m_ht.insert_or_assign(hint, k, std::forward(obj)); + } + + template + iterator insert_or_assign(const_iterator hint, key_type&& k, M&& obj) { + return m_ht.insert_or_assign(hint, std::move(k), std::forward(obj)); + } + + /** + * Due to the way elements are stored, emplace will need to move or copy the + * key-value once. The method is equivalent to + * insert(value_type(std::forward(args)...)); + * + * Mainly here for compatibility with the std::unordered_map interface. + */ + template + std::pair emplace(Args&&... args) { + return m_ht.emplace(std::forward(args)...); + } + + /** + * Due to the way elements are stored, emplace_hint will need to move or copy + * the key-value once. The method is equivalent to insert(hint, + * value_type(std::forward(args)...)); + * + * Mainly here for compatibility with the std::unordered_map interface. + */ + template + iterator emplace_hint(const_iterator hint, Args&&... args) { + return m_ht.emplace_hint(hint, std::forward(args)...); + } + + template + std::pair try_emplace(const key_type& k, Args&&... args) { + return m_ht.try_emplace(k, std::forward(args)...); + } + + template + std::pair try_emplace(key_type&& k, Args&&... args) { + return m_ht.try_emplace(std::move(k), std::forward(args)...); + } + + template + iterator try_emplace(const_iterator hint, const key_type& k, Args&&... args) { + return m_ht.try_emplace_hint(hint, k, std::forward(args)...); + } + + template + iterator try_emplace(const_iterator hint, key_type&& k, Args&&... args) { + return m_ht.try_emplace_hint(hint, std::move(k), + std::forward(args)...); + } + + /** + * When erasing an element, the insert order will be preserved and no holes + * will be present in the container returned by 'values_container()'. + * + * The method is in O(bucket_count()), if the order is not important + * 'unordered_erase(...)' method is faster with an O(1) average complexity. + */ + iterator erase(iterator pos) { return m_ht.erase(pos); } + + /** + * @copydoc erase(iterator pos) + */ + iterator erase(const_iterator pos) { return m_ht.erase(pos); } + + /** + * @copydoc erase(iterator pos) + */ + iterator erase(const_iterator first, const_iterator last) { + return m_ht.erase(first, last); + } + + /** + * @copydoc erase(iterator pos) + */ + size_type erase(const key_type& key) { return m_ht.erase(key); } + + /** + * @copydoc erase(iterator pos) + * + * Use the hash value 'precalculated_hash' instead of hashing the key. The + * hash value should be the same as hash_function()(key). Useful to speed-up + * the lookup to the value if you already have the hash. + */ + size_type erase(const key_type& key, std::size_t precalculated_hash) { + return m_ht.erase(key, precalculated_hash); + } + + /** + * @copydoc erase(iterator pos) + * + * This overload only participates in the overload resolution if the typedef + * KeyEqual::is_transparent exists. If so, K must be hashable and comparable + * to Key. + */ + template < + class K, class KE = KeyEqual, + typename std::enable_if::value>::type* = nullptr> + size_type erase(const K& key) { + return m_ht.erase(key); + } + + /** + * @copydoc erase(const key_type& key, std::size_t precalculated_hash) + * + * This overload only participates in the overload resolution if the typedef + * KeyEqual::is_transparent exists. If so, K must be hashable and comparable + * to Key. + */ + template < + class K, class KE = KeyEqual, + typename std::enable_if::value>::type* = nullptr> + size_type erase(const K& key, std::size_t precalculated_hash) { + return m_ht.erase(key, precalculated_hash); + } + + /** + * @copydoc erase(iterator pos) + * + * Erases all elements that satisfy the predicate pred. The method is in + * O(n). Note that the function only has the strong exception guarantee if + * the Predicate, Hash, and Key predicates and moves of keys and values do + * not throw. If an exception is raised, the object is in an invalid state. + * It can still be cleared and destroyed without leaking memory. + */ + template + friend size_type erase_if(ordered_map &map, Predicate pred) { + return map.m_ht.erase_if(pred); + } + + void swap(ordered_map& other) { other.m_ht.swap(m_ht); } + + /* + * Lookup + */ + T& at(const Key& key) { return m_ht.at(key); } + + /** + * Use the hash value 'precalculated_hash' instead of hashing the key. The + * hash value should be the same as hash_function()(key). Useful to speed-up + * the lookup if you already have the hash. + */ + T& at(const Key& key, std::size_t precalculated_hash) { + return m_ht.at(key, precalculated_hash); + } + + const T& at(const Key& key) const { return m_ht.at(key); } + + /** + * @copydoc at(const Key& key, std::size_t precalculated_hash) + */ + const T& at(const Key& key, std::size_t precalculated_hash) const { + return m_ht.at(key, precalculated_hash); + } + + /** + * This overload only participates in the overload resolution if the typedef + * KeyEqual::is_transparent exists. If so, K must be hashable and comparable + * to Key. + */ + template < + class K, class KE = KeyEqual, + typename std::enable_if::value>::type* = nullptr> + T& at(const K& key) { + return m_ht.at(key); + } + + /** + * @copydoc at(const K& key) + * + * Use the hash value 'precalculated_hash' instead of hashing the key. The + * hash value should be the same as hash_function()(key). Useful to speed-up + * the lookup if you already have the hash. + */ + template < + class K, class KE = KeyEqual, + typename std::enable_if::value>::type* = nullptr> + T& at(const K& key, std::size_t precalculated_hash) { + return m_ht.at(key, precalculated_hash); + } + + /** + * @copydoc at(const K& key) + */ + template < + class K, class KE = KeyEqual, + typename std::enable_if::value>::type* = nullptr> + const T& at(const K& key) const { + return m_ht.at(key); + } + + /** + * @copydoc at(const K& key, std::size_t precalculated_hash) + */ + template < + class K, class KE = KeyEqual, + typename std::enable_if::value>::type* = nullptr> + const T& at(const K& key, std::size_t precalculated_hash) const { + return m_ht.at(key, precalculated_hash); + } + + T& operator[](const Key& key) { return m_ht[key]; } + T& operator[](Key&& key) { return m_ht[std::move(key)]; } + + size_type count(const Key& key) const { return m_ht.count(key); } + + /** + * Use the hash value 'precalculated_hash' instead of hashing the key. The + * hash value should be the same as hash_function()(key). Useful to speed-up + * the lookup if you already have the hash. + */ + size_type count(const Key& key, std::size_t precalculated_hash) const { + return m_ht.count(key, precalculated_hash); + } + + /** + * This overload only participates in the overload resolution if the typedef + * KeyEqual::is_transparent exists. If so, K must be hashable and comparable + * to Key. + */ + template < + class K, class KE = KeyEqual, + typename std::enable_if::value>::type* = nullptr> + size_type count(const K& key) const { + return m_ht.count(key); + } + + /** + * @copydoc count(const K& key) const + * + * Use the hash value 'precalculated_hash' instead of hashing the key. The + * hash value should be the same as hash_function()(key). Useful to speed-up + * the lookup if you already have the hash. + */ + template < + class K, class KE = KeyEqual, + typename std::enable_if::value>::type* = nullptr> + size_type count(const K& key, std::size_t precalculated_hash) const { + return m_ht.count(key, precalculated_hash); + } + + iterator find(const Key& key) { return m_ht.find(key); } + + /** + * Use the hash value 'precalculated_hash' instead of hashing the key. The + * hash value should be the same as hash_function()(key). Useful to speed-up + * the lookup if you already have the hash. + */ + iterator find(const Key& key, std::size_t precalculated_hash) { + return m_ht.find(key, precalculated_hash); + } + + const_iterator find(const Key& key) const { return m_ht.find(key); } + + /** + * @copydoc find(const Key& key, std::size_t precalculated_hash) + */ + const_iterator find(const Key& key, std::size_t precalculated_hash) const { + return m_ht.find(key, precalculated_hash); + } + + /** + * This overload only participates in the overload resolution if the typedef + * KeyEqual::is_transparent exists. If so, K must be hashable and comparable + * to Key. + */ + template < + class K, class KE = KeyEqual, + typename std::enable_if::value>::type* = nullptr> + iterator find(const K& key) { + return m_ht.find(key); + } + + /** + * @copydoc find(const K& key) + * + * Use the hash value 'precalculated_hash' instead of hashing the key. The + * hash value should be the same as hash_function()(key). Useful to speed-up + * the lookup if you already have the hash. + */ + template < + class K, class KE = KeyEqual, + typename std::enable_if::value>::type* = nullptr> + iterator find(const K& key, std::size_t precalculated_hash) { + return m_ht.find(key, precalculated_hash); + } + + /** + * @copydoc find(const K& key) + */ + template < + class K, class KE = KeyEqual, + typename std::enable_if::value>::type* = nullptr> + const_iterator find(const K& key) const { + return m_ht.find(key); + } + + /** + * @copydoc find(const K& key) + * + * Use the hash value 'precalculated_hash' instead of hashing the key. The + * hash value should be the same as hash_function()(key). Useful to speed-up + * the lookup if you already have the hash. + */ + template < + class K, class KE = KeyEqual, + typename std::enable_if::value>::type* = nullptr> + const_iterator find(const K& key, std::size_t precalculated_hash) const { + return m_ht.find(key, precalculated_hash); + } + + bool contains(const Key& key) const { return m_ht.contains(key); } + + /** + * Use the hash value 'precalculated_hash' instead of hashing the key. The + * hash value should be the same as hash_function()(key). Useful to speed-up + * the lookup if you already have the hash. + */ + bool contains(const Key& key, std::size_t precalculated_hash) const { + return m_ht.contains(key, precalculated_hash); + } + + /** + * This overload only participates in the overload resolution if the typedef + * KeyEqual::is_transparent exists. If so, K must be hashable and comparable + * to Key. + */ + template < + class K, class KE = KeyEqual, + typename std::enable_if::value>::type* = nullptr> + bool contains(const K& key) const { + return m_ht.contains(key); + } + + /** + * @copydoc contains(const K& key) const + * + * Use the hash value 'precalculated_hash' instead of hashing the key. The + * hash value should be the same as hash_function()(key). Useful to speed-up + * the lookup if you already have the hash. + */ + template < + class K, class KE = KeyEqual, + typename std::enable_if::value>::type* = nullptr> + bool contains(const K& key, std::size_t precalculated_hash) const { + return m_ht.contains(key, precalculated_hash); + } + + std::pair equal_range(const Key& key) { + return m_ht.equal_range(key); + } + + /** + * Use the hash value 'precalculated_hash' instead of hashing the key. The + * hash value should be the same as hash_function()(key). Useful to speed-up + * the lookup if you already have the hash. + */ + std::pair equal_range(const Key& key, + std::size_t precalculated_hash) { + return m_ht.equal_range(key, precalculated_hash); + } + + std::pair equal_range(const Key& key) const { + return m_ht.equal_range(key); + } + + /** + * @copydoc equal_range(const Key& key, std::size_t precalculated_hash) + */ + std::pair equal_range( + const Key& key, std::size_t precalculated_hash) const { + return m_ht.equal_range(key, precalculated_hash); + } + + /** + * This overload only participates in the overload resolution if the typedef + * KeyEqual::is_transparent exists. If so, K must be hashable and comparable + * to Key. + */ + template < + class K, class KE = KeyEqual, + typename std::enable_if::value>::type* = nullptr> + std::pair equal_range(const K& key) { + return m_ht.equal_range(key); + } + + /** + * @copydoc equal_range(const K& key) + * + * Use the hash value 'precalculated_hash' instead of hashing the key. The + * hash value should be the same as hash_function()(key). Useful to speed-up + * the lookup if you already have the hash. + */ + template < + class K, class KE = KeyEqual, + typename std::enable_if::value>::type* = nullptr> + std::pair equal_range(const K& key, + std::size_t precalculated_hash) { + return m_ht.equal_range(key, precalculated_hash); + } + + /** + * @copydoc equal_range(const K& key) + */ + template < + class K, class KE = KeyEqual, + typename std::enable_if::value>::type* = nullptr> + std::pair equal_range(const K& key) const { + return m_ht.equal_range(key); + } + + /** + * @copydoc equal_range(const K& key, std::size_t precalculated_hash) + */ + template < + class K, class KE = KeyEqual, + typename std::enable_if::value>::type* = nullptr> + std::pair equal_range( + const K& key, std::size_t precalculated_hash) const { + return m_ht.equal_range(key, precalculated_hash); + } + + /* + * Bucket interface + */ + size_type bucket_count() const { return m_ht.bucket_count(); } + size_type max_bucket_count() const { return m_ht.max_bucket_count(); } + + /* + * Hash policy + */ + float load_factor() const { return m_ht.load_factor(); } + float max_load_factor() const { return m_ht.max_load_factor(); } + void max_load_factor(float ml) { m_ht.max_load_factor(ml); } + + void rehash(size_type count) { m_ht.rehash(count); } + void reserve(size_type count) { m_ht.reserve(count); } + + /* + * Observers + */ + hasher hash_function() const { return m_ht.hash_function(); } + key_equal key_eq() const { return m_ht.key_eq(); } + + /* + * Other + */ + + /** + * Convert a const_iterator to an iterator. + */ + iterator mutable_iterator(const_iterator pos) { + return m_ht.mutable_iterator(pos); + } + + /** + * Requires index <= size(). + * + * Return an iterator to the element at index. Return end() if index == + * size(). + */ + iterator nth(size_type index) { return m_ht.nth(index); } + + /** + * @copydoc nth(size_type index) + */ + const_iterator nth(size_type index) const { return m_ht.nth(index); } + + /** + * Return const_reference to the first element. Requires the container to not + * be empty. + */ + const_reference front() const { return m_ht.front(); } + + /** + * Return const_reference to the last element. Requires the container to not + * be empty. + */ + const_reference back() const { return m_ht.back(); } + + /** + * Only available if ValueTypeContainer is a std::vector. Same as calling + * 'values_container().data()'. + */ + template ::value>::type* = nullptr> + const typename values_container_type::value_type* data() const noexcept { + return m_ht.data(); + } + + /** + * Return the container in which the values are stored. The values are in the + * same order as the insertion order and are contiguous in the structure, no + * holes (size() == values_container().size()). + */ + const values_container_type& values_container() const noexcept { + return m_ht.values_container(); + } + + /** + * Release the container in which the values are stored. + * + * The map is empty after this operation. + */ + values_container_type release() { return m_ht.release(); } + + template ::value>::type* = nullptr> + size_type capacity() const noexcept { + return m_ht.capacity(); + } + + void shrink_to_fit() { m_ht.shrink_to_fit(); } + + /** + * Insert the value before pos shifting all the elements on the right of pos + * (including pos) one position to the right. + * + * O(bucket_count()) runtime complexity. + */ + std::pair insert_at_position(const_iterator pos, + const value_type& value) { + return m_ht.insert_at_position(pos, value); + } + + /** + * @copydoc insert_at_position(const_iterator pos, const value_type& value) + */ + std::pair insert_at_position(const_iterator pos, + value_type&& value) { + return m_ht.insert_at_position(pos, std::move(value)); + } + + /** + * @copydoc insert_at_position(const_iterator pos, const value_type& value) + * + * Same as insert_at_position(pos, value_type(std::forward(args)...), + * mainly here for coherence. + */ + template + std::pair emplace_at_position(const_iterator pos, + Args&&... args) { + return m_ht.emplace_at_position(pos, std::forward(args)...); + } + + /** + * @copydoc insert_at_position(const_iterator pos, const value_type& value) + */ + template + std::pair try_emplace_at_position(const_iterator pos, + const key_type& k, + Args&&... args) { + return m_ht.try_emplace_at_position(pos, k, std::forward(args)...); + } + + /** + * @copydoc insert_at_position(const_iterator pos, const value_type& value) + */ + template + std::pair try_emplace_at_position(const_iterator pos, + key_type&& k, + Args&&... args) { + return m_ht.try_emplace_at_position(pos, std::move(k), + std::forward(args)...); + } + + void pop_back() { m_ht.pop_back(); } + + /** + * Faster erase operation with an O(1) average complexity but it doesn't + * preserve the insertion order. + * + * If an erasure occurs, the last element of the map will take the place of + * the erased element. + */ + iterator unordered_erase(iterator pos) { return m_ht.unordered_erase(pos); } + + /** + * @copydoc unordered_erase(iterator pos) + */ + iterator unordered_erase(const_iterator pos) { + return m_ht.unordered_erase(pos); + } + + /** + * @copydoc unordered_erase(iterator pos) + */ + size_type unordered_erase(const key_type& key) { + return m_ht.unordered_erase(key); + } + + /** + * @copydoc unordered_erase(iterator pos) + * + * Use the hash value 'precalculated_hash' instead of hashing the key. The + * hash value should be the same as hash_function()(key). Useful to speed-up + * the lookup if you already have the hash. + */ + size_type unordered_erase(const key_type& key, + std::size_t precalculated_hash) { + return m_ht.unordered_erase(key, precalculated_hash); + } + + /** + * @copydoc unordered_erase(iterator pos) + * + * This overload only participates in the overload resolution if the typedef + * KeyEqual::is_transparent exists. If so, K must be hashable and comparable + * to Key. + */ + template < + class K, class KE = KeyEqual, + typename std::enable_if::value>::type* = nullptr> + size_type unordered_erase(const K& key) { + return m_ht.unordered_erase(key); + } + + /** + * @copydoc unordered_erase(const K& key) + * + * Use the hash value 'precalculated_hash' instead of hashing the key. The + * hash value should be the same as hash_function()(key). Useful to speed-up + * the lookup if you already have the hash. + */ + template < + class K, class KE = KeyEqual, + typename std::enable_if::value>::type* = nullptr> + size_type unordered_erase(const K& key, std::size_t precalculated_hash) { + return m_ht.unordered_erase(key, precalculated_hash); + } + + /** + * Serialize the map through the `serializer` parameter. + * + * The `serializer` parameter must be a function object that supports the + * following call: + * - `template void operator()(const U& value);` where the types + * `std::uint64_t`, `float` and `std::pair` must be supported for U. + * + * The implementation leaves binary compatibility (endianness, IEEE 754 for + * floats, ...) of the types it serializes in the hands of the `Serializer` + * function object if compatibility is required. + */ + template + void serialize(Serializer& serializer) const { + m_ht.serialize(serializer); + } + + /** + * Deserialize a previously serialized map through the `deserializer` + * parameter. + * + * The `deserializer` parameter must be a function object that supports the + * following calls: + * - `template U operator()();` where the types `std::uint64_t`, + * `float` and `std::pair` must be supported for U. + * + * If the deserialized hash map type is hash compatible with the serialized + * map, the deserialization process can be sped up by setting + * `hash_compatible` to true. To be hash compatible, the Hash and KeyEqual + * must behave the same way than the ones used on the serialized map. The + * `std::size_t` must also be of the same size as the one on the platform used + * to serialize the map, the same apply for `IndexType`. If these criteria are + * not met, the behaviour is undefined with `hash_compatible` sets to true. + * + * The behaviour is undefined if the type `Key` and `T` of the `ordered_map` + * are not the same as the types used during serialization. + * + * The implementation leaves binary compatibility (endianness, IEEE 754 for + * floats, size of int, ...) of the types it deserializes in the hands of the + * `Deserializer` function object if compatibility is required. + */ + template + static ordered_map deserialize(Deserializer& deserializer, + bool hash_compatible = false) { + ordered_map map(0); + map.m_ht.deserialize(deserializer, hash_compatible); + + return map; + } + + friend bool operator==(const ordered_map& lhs, const ordered_map& rhs) { + return lhs.m_ht == rhs.m_ht; + } + friend bool operator!=(const ordered_map& lhs, const ordered_map& rhs) { + return lhs.m_ht != rhs.m_ht; + } + friend bool operator<(const ordered_map& lhs, const ordered_map& rhs) { + return lhs.m_ht < rhs.m_ht; + } + friend bool operator<=(const ordered_map& lhs, const ordered_map& rhs) { + return lhs.m_ht <= rhs.m_ht; + } + friend bool operator>(const ordered_map& lhs, const ordered_map& rhs) { + return lhs.m_ht > rhs.m_ht; + } + friend bool operator>=(const ordered_map& lhs, const ordered_map& rhs) { + return lhs.m_ht >= rhs.m_ht; + } + + friend void swap(ordered_map& lhs, ordered_map& rhs) { lhs.swap(rhs); } + + private: + ht m_ht; +}; + +} // end namespace tsl + +#endif From 801ac1ef5749aa9d153ad59adf2d223b5e91a709 Mon Sep 17 00:00:00 2001 From: Chris Lalancette Date: Thu, 25 Jul 2024 17:57:20 +0000 Subject: [PATCH 2/3] Exclude the new files from style checking. Signed-off-by: Chris Lalancette --- .github/workflows/style.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/style.yaml b/.github/workflows/style.yaml index d8659e99..d20c770a 100644 --- a/.github/workflows/style.yaml +++ b/.github/workflows/style.yaml @@ -19,6 +19,6 @@ jobs: steps: - uses: actions/checkout@v4 - name: uncrustify - run: /ros_entrypoint.sh ament_uncrustify rmw_zenoh_cpp/ + run: /ros_entrypoint.sh ament_uncrustify --exclude rmw_zenoh_cpp/src/detail/ordered_hash.hpp rmw_zenoh_cpp/src/detail/ordered_map.hpp rmw_zenoh_cpp/ - name: cpplint - run: /ros_entrypoint.sh ament_cpplint rmw_zenoh_cpp/ + run: /ros_entrypoint.sh ament_cpplint --exclude rmw_zenoh_cpp/src/detail/ordered_hash.hpp rmw_zenoh_cpp/src/detail/ordered_map.hpp rmw_zenoh_cpp/ From 6518e5feb17c7deeaec22506cf0318f8e69cd86b Mon Sep 17 00:00:00 2001 From: Chris Lalancette Date: Thu, 1 Aug 2024 18:17:59 +0000 Subject: [PATCH 3/3] Feedback from review. Signed-off-by: Chris Lalancette --- rmw_zenoh_cpp/src/detail/graph_cache.hpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/rmw_zenoh_cpp/src/detail/graph_cache.hpp b/rmw_zenoh_cpp/src/detail/graph_cache.hpp index ce93fad7..47d33765 100644 --- a/rmw_zenoh_cpp/src/detail/graph_cache.hpp +++ b/rmw_zenoh_cpp/src/detail/graph_cache.hpp @@ -81,6 +81,8 @@ struct GraphNode // Map topic type to QoSMap using TopicTypeMap = std::unordered_map; // Map topic name to TopicTypeMap + // This uses a map that remembers insertion order because some parts of the client libraries + // expect that these are returned in the order that they were created. using TopicMap = tsl::ordered_map; // Entries for pub/sub.