Add "MemoryStrategy" to Executor with dep. injection#56
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jacquelinekay merged 6 commits intomasterfrom Jul 15, 2015
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Add "MemoryStrategy" to Executor with dep. injection#56jacquelinekay merged 6 commits intomasterfrom
jacquelinekay merged 6 commits intomasterfrom
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July 13, 2015 12:01
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You could use the RCLCPP_MAKE_SHARED_DEFINITIONS macro here to add the static function make_shared to the AnyExecutable class.
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July 13, 2015 15:39
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Updates based on William's comments in 541385a: use RCLCPP_MAKE_SHARED for shared pointer typedefs for new classes |
rclcpp/include/rclcpp/executor.hpp
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Thanks @jacquelinekay, 541385a lgtm. |
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All those member variables should have a trailing underscore and no leading underscore.
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This pull request introduces the
MemoryStrategyclass to delegate memory management on the execution path ofExecutor.By default,
MemoryStrategyis stateless and handles all delegated functions with dynamic memory management (malloc, free, new), but all functions are overrideable. An example subclass ofMemoryStrategy,StaticMemoryStrategy, shows how these functions can be overridden and state can be added to implement fully static memory management.The following functions are delegated to
MemoryStrategy:borrow_handles: returns a pointer to memory reserved for subscription, service, client or guard condition handles.return_handles: cleans up memory instantiated inborrow_handles, by deleting it or resetting to NULL.instantiate_next_executable: instantiates the nextAnyExecutableobject and passes it as a shared pointer.In order to manage circular dependencies, I moved the
AnyExecutablestruct from a protected member ofExecutorto its own header file.An example of how the memory strategy can be specified dynamically is in the
examples/memory_dependency_injection:https://github.com/ros2/examples/blob/memory_dependency_injection/rclcpp_examples/src/topics/listener_exec.cpp