simple_gc.cpp
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00034 
00035 #include <rosrt/detail/simple_gc.h>
00036 #include <rosrt/detail/managers.h>
00037 #include <rosrt/init.h>
00038 #include <ros/debug.h>
00039 
00040 namespace rosrt
00041 {
00042 namespace detail
00043 {
00044 
00045 SimpleGC::SimpleGC(const InitOptions& ops)
00046 : running_(true)
00047 , pool_gc_queue_(ops.gc_queue_size)
00048 , period_(ops.gc_period.toSec())
00049 {
00050   pool_gc_thread_ = boost::thread(&SimpleGC::gcThread, this);
00051 }
00052 
00053 SimpleGC::~SimpleGC()
00054 {
00055   running_ = false;
00056   pool_gc_thread_.join();
00057 }
00058 
00059 void addPoolToGC(void* pool, SimpleGC::DeleteFunc deleter, SimpleGC::IsDeletableFunc deletable)
00060 {
00061   getGC()->add(pool, deleter, deletable);
00062 }
00063 
00064 void SimpleGC::add(void* pool, DeleteFunc deleter, IsDeletableFunc deletable)
00065 {
00066   PoolGCItem i;
00067   i.pool = pool;
00068   i.deleter = deleter;
00069   i.is_deletable = deletable;
00070   pool_gc_queue_.push(i);
00071 }
00072 
00073 void SimpleGC::gcThread()
00074 {
00075   typedef std::vector<PoolGCItem> V_PoolGCItem;
00076   V_PoolGCItem gc_items;
00077 
00078   while (running_)
00079   {
00080     ros::WallDuration(period_).sleep();
00081 
00082     {
00083       MWSRQueue<PoolGCItem>::Node* it = pool_gc_queue_.popAll();
00084       while (it)
00085       {
00086         gc_items.push_back(it->val);
00087         MWSRQueue<PoolGCItem>::Node* tmp = it;
00088         it = it->next;
00089         pool_gc_queue_.free(tmp);
00090       }
00091     }
00092 
00093     {
00094       for (size_t i = 0; i < gc_items.size();)
00095       {
00096         PoolGCItem& item = gc_items[i];
00097         if (item.is_deletable(item.pool))
00098         {
00099           item.deleter(item.pool);
00100           item = gc_items.back();
00101           gc_items.pop_back();
00102         }
00103         else
00104         {
00105           ++i;
00106         }
00107       }
00108     }
00109   }
00110 
00111   {
00112     // Once we've stopped running, make sure everything is deleted
00113     V_PoolGCItem::iterator it = gc_items.begin();
00114     V_PoolGCItem::iterator end = gc_items.end();
00115     for (; it != end; ++it)
00116     {
00117       PoolGCItem& item = *it;
00118       if (!item.is_deletable(item.pool))
00119       {
00120         ROS_WARN("Pool %p still has allocated blocks.  Deleting anyway.", item.pool);
00121       }
00122 
00123       item.deleter(item.pool);
00124     }
00125   }
00126 }
00127 
00128 } // namespace detail
00129 } // namespace rosrt
00130 


rosrt
Author(s): Josh Faust
autogenerated on Wed Aug 26 2015 16:00:02