object_pool.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 LOCKFREE_OBJECT_POOL_H
#define LOCKFREE_OBJECT_POOL_H
 
#include "free_list.h"
 
#include <ros/assert.h>
 
#include <boost/shared_ptr.hpp>
 
namespace lockfree
{
 
template<typename T>
class ObjectPool;
 
namespace detail
{
 
struct SPStorage
{
  uint8_t data[72];
};
 
template<class T> class SPAllocator;
 
// specialize for void:
template<>
class SPAllocator<void>
{
public:
  typedef void* pointer;
  typedef const void* const_pointer;
  // reference to void members are impossible.
  typedef void value_type;
 
  template<class U>
  struct rebind
  {
    typedef SPAllocator<U> other;
  };
 
  SPAllocator(FreeList* pool, SPStorage* block) throw ()
  : block_(block)
  , used_(0)
  , pool_(pool)
  {
  }
 
  template<class U>
  SPAllocator(const SPAllocator<U>& u) throw ()
  {
    block_ = u.get_block();
    used_ = u.get_used();
    pool_ = u.get_pool();
  }
 
  SPStorage* get_block() const { return block_; }
  uint32_t get_used() const { return used_; }
  FreeList* get_pool() const { return pool_; }
 
private:
  SPStorage* block_;
  uint32_t used_;
  FreeList* pool_;
};
 
template<class T>
class SPAllocator
{
public:
  typedef size_t size_type;
  typedef ptrdiff_t difference_type;
  typedef T* pointer;
  typedef const T* const_pointer;
  typedef T& reference;
  typedef const T& const_reference;
  typedef T value_type;
 
  template<class U>
  struct rebind
  {
    typedef SPAllocator<U> other;
  };
 
  SPAllocator(FreeList* pool, SPStorage* block) throw ()
  : block_(block)
  , used_(0)
  , pool_(pool)
  {
  }
 
  template<class U>
  SPAllocator(const SPAllocator<U>& u) throw ()
  {
    block_ = u.get_block();
    used_ = u.get_used();
    pool_ = u.get_pool();
  }
 
  ~SPAllocator() throw ()
  {
  }
 
  pointer address(reference r) const
  {
    return &r;
  }
  const_pointer address(const_reference r) const
  {
    return &r;
  }
  size_type max_size() const throw ()
  {
    return ~size_type(0);
  }
  pointer allocate(size_type n, SPAllocator<void>::const_pointer hint = 0)
  {
    uint32_t to_alloc = n * sizeof(T);
    ROS_ASSERT_MSG(to_alloc <= (sizeof(SPStorage) - used_), "to_alloc=%d, size=%u, used=%d", to_alloc, (uint32_t)sizeof(SPStorage), used_);
 
    pointer p = reinterpret_cast<pointer>(block_->data + used_);
    used_ += to_alloc;
    return p;
  }
  void deallocate(pointer p, size_type n)
  {
    uint32_t to_free = n * sizeof(T);
    used_ -= to_free;
    ROS_ASSERT_MSG(used_ >= -(int32_t)sizeof(SPStorage), "to_free=%d, size=%u, used=%d", to_free, (uint32_t)sizeof(SPStorage), used_);
 
    if (used_ == 0 || used_ < 0)
    {
      pool_->free(block_);
    }
  }
 
  void construct(pointer p, const_reference val)
  {
    new (p) T(val);
  }
  void destroy(pointer p)
  {
    p->~T();
  }
 
  SPStorage* get_block() const { return block_; }
  int32_t get_used() const { return used_; }
  FreeList* get_pool() const { return pool_; }
 
private:
  SPStorage* block_;
  int32_t used_;
  FreeList* pool_;
};
 
} // namespace detail
 
template<typename T>
class ObjectPool
{
  struct Deleter
  {
    Deleter(ObjectPool* pool, detail::SPStorage* storage)
    : pool_(pool)
    , sp_(storage)
    , free_(true)
    {
    }
 
    void operator()(T const* t)
    {
      if (free_)
      {
        pool_->free(t);
      }
    }
 
    ObjectPool* pool_;
    detail::SPStorage* sp_;
    bool free_;
  };
 
 
 
public:
  ObjectPool()
  : initialized_(false)
  {
  }
 
  ObjectPool(uint32_t count, const T& tmpl)
  : initialized_(false)
  {
    initialize(count, tmpl);
  }
 
  ~ObjectPool()
  {
    freelist_.template destructAll<T>();
    sp_storage_freelist_.template destructAll<detail::SPStorage>();
  }
 
  bool hasOutstandingAllocations()
  {
    return freelist_.hasOutstandingAllocations() || sp_storage_freelist_.hasOutstandingAllocations();
  }
 
  void initialize(uint32_t count, const T& tmpl)
  {
    ROS_ASSERT(!initialized_);
    freelist_.initialize(sizeof(T), count);
    freelist_.template constructAll<T>(tmpl);
    sp_storage_freelist_.initialize(sizeof(detail::SPStorage), count);
    sp_storage_freelist_.template constructAll<detail::SPStorage>();
    initialized_ = true;
  }
 
  boost::shared_ptr<T> allocateShared()
  {
    ROS_ASSERT(initialized_);
 
    T* item = static_cast<T*>(freelist_.allocate());
    if (!item)
    {
      return boost::shared_ptr<T>();
    }
 
    boost::shared_ptr<T> ptr = makeShared(item);
    if (!ptr)
    {
      freelist_.free(item);
      return boost::shared_ptr<T>();
    }
 
    return ptr;
  }
 
  boost::shared_ptr<T> makeShared(T* t)
  {
    return makeSharedImpl(t);
  }
 
  boost::shared_ptr<T const> makeShared(T const* t)
  {
    return makeSharedImpl<T const>(t);
  }
 
  T* removeShared(const boost::shared_ptr<T>& t)
  {
    ROS_ASSERT(freelist_.owns(t.get()));
 
    Deleter* d = boost::get_deleter<Deleter>(t);
    d->free_ = false;
    return t.get();
  }
 
  T const* removeShared(const boost::shared_ptr<T const>& t)
  {
    ROS_ASSERT(freelist_.owns(t.get()));
 
    Deleter* d = boost::get_deleter<Deleter>(t);
    d->free_ = false;
    return t.get();
  }
 
  T* allocate()
  {
    return static_cast<T*>(freelist_.allocate());
  }
 
  void free(T const* t)
  {
    freelist_.free(t);
  }
 
  bool owns(T const* t)
  {
    return freelist_.owns(t);
  }
 
  bool owns(const boost::shared_ptr<T const>& t)
  {
    return owns(t.get());
  }
 
private:
 
  template<typename T2>
  boost::shared_ptr<T2> makeSharedImpl(T2* t)
  {
    ROS_ASSERT(freelist_.owns(t));
 
    detail::SPStorage* sp_storage = static_cast<detail::SPStorage*>(sp_storage_freelist_.allocate());
 
    if (!sp_storage)
    {
      return boost::shared_ptr<T2>();
    }
 
    boost::shared_ptr<T2> ptr(t, Deleter(this, sp_storage), detail::SPAllocator<void>(&sp_storage_freelist_, sp_storage));
    return ptr;
  }
 
  bool initialized_;
 
  FreeList freelist_;
  FreeList sp_storage_freelist_;
};
 
} // namespace lockfree
 
#endif // LOCKFREE_OBJECT_POOL_H