simple_gc.h

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#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