simple_gc.h

Go to the documentation of this file.

/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2010, Willow Garage, Inc.
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the Willow Garage nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/

#ifndef ROSRT_SIMPLE_GC_H
#define ROSRT_SIMPLE_GC_H

#include "mwsr_queue.h"

#include <ros/atomic.h>
#include <lockfree/object_pool.h>
#include <boost/thread/thread.hpp>

namespace rosrt
{

struct InitOptions;

namespace detail
{

class SimpleGC
{
public:
  typedef void(*DeleteFunc)(void* pool);
  typedef bool(*IsDeletableFunc)(void* pool);

  SimpleGC(const InitOptions& ops);
  ~SimpleGC();

  void add(void* pool, DeleteFunc deleter, IsDeletableFunc deletable);

private:
  void gcThread();

  volatile bool running_;

  struct PoolGCItem
  {
    void* pool;
    DeleteFunc deleter;
    IsDeletableFunc is_deletable;
  };

  boost::thread pool_gc_thread_;
  MWSRQueue<PoolGCItem> pool_gc_queue_;
  float period_;
};

} // namespace detail
} // namespace rosrt

#endif // ROSRT_SIMPLE_GC_H