Merge pure GPS into GLONASS; Add Ruby Ractor support

fenrir-naru · Feb 2, 2025 · 9e256df · 9e256df
2 parents caa4be4 + 92af11a
commit 9e256df
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Showing 7 changed files with 72 additions and 3 deletions.
diff --git a/.github/workflows/CI_firmware_tools.yml b/.github/workflows/CI_firmware_tools.yml
@@ -45,7 +45,7 @@ jobs:
         (cd ./tool && make clean all && (cd build_GCC && touch ${GITHUB_SHA}.commit && tar zvcf ubuntu.${GITHUB_REF##*/}.tar.gz *.out *.commit) )
         (cd ./tool && BUILD_DIR=build_GCC_ARM CXX=arm-linux-gnueabihf-g++ make clean all && (cd build_GCC_ARM && touch ${GITHUB_SHA}.commit && tar zvcf raspi.${GITHUB_REF##*/}.tar.gz *.out *.commit) )
     - name: upload_artifact
-      uses: actions/upload-artifact@v3
+      uses: actions/upload-artifact@v4
       with:
         path: |
           tool/build_*/*.tar.gz

diff --git a/tool/swig/Coordinate.i b/tool/swig/Coordinate.i
@@ -22,6 +22,12 @@
 
 %feature("autodoc", "1");
 
+%init %{
+#ifdef HAVE_RB_EXT_RACTOR_SAFE
+  rb_ext_ractor_safe(true);
+#endif
+%}
+
 %define MAKE_SETTER(name, type)
 %rename(%str(name ## =)) set_ ## name;
 type set_ ## name (const type &v) {

diff --git a/tool/swig/GPS.i b/tool/swig/GPS.i
@@ -47,6 +47,12 @@ inline std::string to_string(const T &value){
 %include exception.i
 %include std_except.i
 
+%init %{
+#ifdef HAVE_RB_EXT_RACTOR_SAFE
+  rb_ext_ractor_safe(true);
+#endif
+%}
+
 #if !defined(SWIGIMPORTED)
 %exceptionclass native_exception;
 %typemap(throws,noblock=1) native_exception {

diff --git a/tool/swig/NavigationModel.i b/tool/swig/NavigationModel.i
@@ -29,6 +29,12 @@
 
 %feature("autodoc", "1");
 
+%init %{
+#ifdef HAVE_RB_EXT_RACTOR_SAFE
+  rb_ext_ractor_safe(true);
+#endif
+%}
+
 %define CONCRETIZE(type)
 %template(MagneticField) MagneticFieldGeneric<type>;
 %template(IGRF11) MagneticFieldGeneric2<type, IGRF11Generic>;

diff --git a/tool/swig/SylphideMath.i b/tool/swig/SylphideMath.i
@@ -5,8 +5,6 @@
 
 %module SylphideMath
 
-#define ENABLE_IOSTREAM 1
-
 %{
 #include <string>
 #include <sstream>
@@ -33,6 +31,12 @@
 %include exception.i
 %include std_except.i
 
+%init %{
+#ifdef HAVE_RB_EXT_RACTOR_SAFE
+  rb_ext_ractor_safe(true);
+#endif
+%}
+
 %ignore native_exception;
 #if !defined(SWIGIMPORTED)
 %exceptionclass native_exception;
@@ -1022,6 +1026,20 @@ struct MatrixUtil {
     }
     return res;
   }
+
+  VALUE to_shareable() const {
+    Matrix_Frozen<T, Array2D_Type, ViewType > *ptr(
+        new Matrix_Frozen<T, Array2D_Type, ViewType >(*$self));
+    VALUE res(SWIG_NewPointerObj(
+        ptr,
+        $descriptor(Matrix_Frozen<T, Array2D_Type, ViewType > *),
+        SWIG_POINTER_OWN));
+    rb_obj_freeze(res);
+%#if defined(HAVE_RB_EXT_RACTOR_SAFE)
+    RB_FL_SET(res, RUBY_FL_SHAREABLE);
+%#endif
+    return res;
+  }
 #endif
   %typemap(in)
       Matrix<T, Array2D_Dense<T> > &output_L,

diff --git a/tool/swig/spec/SylphideMath_spec.rb b/tool/swig/spec/SylphideMath_spec.rb
@@ -602,6 +602,37 @@
       }
     end
   end
+  describe 'parallelization with Ractor' do
+    it "supports instantiation in sub Ractor" do
+      expect{
+        rac = Ractor::new{
+          mat_type, r, c = receive
+          # @see https://docs.ruby-lang.org/en/master/ractor_md.html#label-Return+value+of+a+block+for+Ractor.new
+          # When the block return value is available, ...,
+          # so any values can be sent with this communication path 
+          # without any modification.
+          mat_type::new(r, c)
+        }
+        rac.send([mat_type, params[:rc]].flatten.freeze)
+        mat = rac.take
+        [:row_size, :column_size].zip(params[:rc]).each{|k, v|
+          expect(mat.send(k)).to eq(v)
+        }
+      }.not_to raise_error
+    end
+    it "supports messaging by using to_shareable between Ractors" do
+      expect{
+        rac = Ractor::new{
+          mat = receive
+        }
+        rac.send(mat_type::new(*params[:rc]).to_shareable)
+        mat = rac.take
+        [:row_size, :column_size].zip(params[:rc]).each{|k, v|
+          expect(mat.send(k)).to eq(v)
+        }
+      }.not_to raise_error
+    end
+  end if defined?(Ractor)
 end
 
 =begin

diff --git a/tool/util/bit_counter.h b/tool/util/bit_counter.h
@@ -74,6 +74,8 @@ struct BitCounter {
 
     /**
      * Count rightmost zeros before the first one (Number of trailing zeros)
+     * Be careful, if input equals to 0, then total number of corresponding type bits
+     * will be returned like (unsigned int)0 => 32.
      * @param bits results
      */
     static T ntz(const T &v) {