-
Notifications
You must be signed in to change notification settings - Fork 522
Expand file tree
/
Copy pathmemory_strategy.hpp
More file actions
155 lines (125 loc) · 5.24 KB
/
memory_strategy.hpp
File metadata and controls
155 lines (125 loc) · 5.24 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
// Copyright 2015 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef RCLCPP__MEMORY_STRATEGY_HPP_
#define RCLCPP__MEMORY_STRATEGY_HPP_
#include <list>
#include <map>
#include <memory>
#include "rcl/allocator.h"
#include "rcl/wait.h"
#include "rclcpp/any_executable.hpp"
#include "rclcpp/macros.hpp"
#include "rclcpp/node_interfaces/node_base_interface.hpp"
#include "rclcpp/visibility_control.hpp"
#include "rclcpp/waitable.hpp"
namespace rclcpp
{
namespace memory_strategy
{
/// Delegate for handling memory allocations while the Executor is executing.
/**
* By default, the memory strategy dynamically allocates memory for structures that come in from
* the rmw implementation after the executor waits for work, based on the number of entities that
* come through.
*/
class RCLCPP_PUBLIC MemoryStrategy
{
public:
RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(MemoryStrategy)
using WeakCallbackGroupsToNodesMap = std::map<rclcpp::CallbackGroup::WeakPtr,
rclcpp::node_interfaces::NodeBaseInterface::WeakPtr,
std::owner_less<rclcpp::CallbackGroup::WeakPtr>>;
virtual ~MemoryStrategy() = default;
virtual bool collect_entities(const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) = 0;
virtual size_t number_of_ready_subscriptions() const = 0;
virtual size_t number_of_ready_services() const = 0;
virtual size_t number_of_ready_clients() const = 0;
virtual size_t number_of_ready_events() const = 0;
virtual size_t number_of_ready_timers() const = 0;
virtual size_t number_of_guard_conditions() const = 0;
virtual size_t number_of_waitables() const = 0;
virtual void add_waitable_handle(const rclcpp::Waitable::SharedPtr & waitable) = 0;
virtual bool add_handles_to_wait_set(rcl_wait_set_t * wait_set) = 0;
virtual void clear_handles() = 0;
virtual void remove_null_handles(rcl_wait_set_t * wait_set) = 0;
virtual void
add_guard_condition(const rclcpp::GuardCondition & guard_condition) = 0;
virtual void
remove_guard_condition(const rclcpp::GuardCondition * guard_condition) = 0;
virtual void
get_next_subscription(
rclcpp::AnyExecutable & any_exec,
const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) = 0;
virtual void
get_next_service(
rclcpp::AnyExecutable & any_exec,
const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) = 0;
virtual void
get_next_client(
rclcpp::AnyExecutable & any_exec,
const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) = 0;
virtual void
get_next_timer(
rclcpp::AnyExecutable & any_exec,
const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) = 0;
virtual void
get_next_waitable(
rclcpp::AnyExecutable & any_exec,
const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) = 0;
virtual rcl_allocator_t
get_allocator() = 0;
static rclcpp::SubscriptionBase::SharedPtr
get_subscription_by_handle(
const std::shared_ptr<const rcl_subscription_t> & subscriber_handle,
const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
static rclcpp::ServiceBase::SharedPtr
get_service_by_handle(
const std::shared_ptr<const rcl_service_t> & service_handle,
const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
static rclcpp::ClientBase::SharedPtr
get_client_by_handle(
const std::shared_ptr<const rcl_client_t> & client_handle,
const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
static rclcpp::TimerBase::SharedPtr
get_timer_by_handle(
const std::shared_ptr<const rcl_timer_t> & timer_handle,
const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
static rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
get_node_by_group(
const rclcpp::CallbackGroup::SharedPtr & group,
const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
static rclcpp::CallbackGroup::SharedPtr
get_group_by_subscription(
const rclcpp::SubscriptionBase::SharedPtr & subscription,
const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
static rclcpp::CallbackGroup::SharedPtr
get_group_by_service(
const rclcpp::ServiceBase::SharedPtr & service,
const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
static rclcpp::CallbackGroup::SharedPtr
get_group_by_client(
const rclcpp::ClientBase::SharedPtr & client,
const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
static rclcpp::CallbackGroup::SharedPtr
get_group_by_timer(
const rclcpp::TimerBase::SharedPtr & timer,
const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
static rclcpp::CallbackGroup::SharedPtr
get_group_by_waitable(
const rclcpp::Waitable::SharedPtr & waitable,
const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
};
} // namespace memory_strategy
} // namespace rclcpp
#endif // RCLCPP__MEMORY_STRATEGY_HPP_