simple_gc.cpp

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#include <rosrt/detail/simple_gc.h>
#include <rosrt/detail/managers.h>
#include <rosrt/init.h>
#include <ros/debug.h>
 
namespace rosrt
{
namespace detail
{
 
SimpleGC::SimpleGC(const InitOptions& ops)
: running_(true)
, pool_gc_queue_(ops.gc_queue_size)
, period_(ops.gc_period.toSec())
{
  pool_gc_thread_ = boost::thread(&SimpleGC::gcThread, this);
}
 
SimpleGC::~SimpleGC()
{
  running_ = false;
  pool_gc_thread_.join();
}
 
void addPoolToGC(void* pool, SimpleGC::DeleteFunc deleter, SimpleGC::IsDeletableFunc deletable)
{
  getGC()->add(pool, deleter, deletable);
}
 
void SimpleGC::add(void* pool, DeleteFunc deleter, IsDeletableFunc deletable)
{
  PoolGCItem i;
  i.pool = pool;
  i.deleter = deleter;
  i.is_deletable = deletable;
  pool_gc_queue_.push(i);
}
 
void SimpleGC::gcThread()
{
  typedef std::vector<PoolGCItem> V_PoolGCItem;
  V_PoolGCItem gc_items;
 
  while (running_)
  {
    ros::WallDuration(period_).sleep();
 
    {
      MWSRQueue<PoolGCItem>::Node* it = pool_gc_queue_.popAll();
      while (it)
      {
        gc_items.push_back(it->val);
        MWSRQueue<PoolGCItem>::Node* tmp = it;
        it = it->next;
        pool_gc_queue_.free(tmp);
      }
    }
 
    {
      for (size_t i = 0; i < gc_items.size();)
      {
        PoolGCItem& item = gc_items[i];
        if (item.is_deletable(item.pool))
        {
          item.deleter(item.pool);
          item = gc_items.back();
          gc_items.pop_back();
        }
        else
        {
          ++i;
        }
      }
    }
  }
 
  {
    // Once we've stopped running, make sure everything is deleted
    V_PoolGCItem::iterator it = gc_items.begin();
    V_PoolGCItem::iterator end = gc_items.end();
    for (; it != end; ++it)
    {
      PoolGCItem& item = *it;
      if (!item.is_deletable(item.pool))
      {
        ROS_WARN("Pool %p still has allocated blocks.  Deleting anyway.", item.pool);
      }
 
      item.deleter(item.pool);
    }
  }
}
 
} // namespace detail
} // namespace rosrt