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<div class="title">CGenericMemoryPool.h</div> </div>
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<a href="_c_generic_memory_pool_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef MRPT_MEMORY_POOL_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define MRPT_MEMORY_POOL_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="_c_critical_section_8h.html">mrpt/synch/CCriticalSection.h</a>></span>
<a name="l00032"></a>00032
<a name="l00033"></a>00033 <span class="keyword">namespace </span>mrpt
<a name="l00034"></a>00034 {
<a name="l00035"></a>00035 <span class="keyword">namespace </span>system
<a name="l00036"></a>00036 {<span class="comment"></span>
<a name="l00037"></a>00037 <span class="comment"> /** A generic system for versatile memory pooling.</span>
<a name="l00038"></a>00038 <span class="comment"> * This class implements the singleton pattern so a unique instance exists for each combination of template parameters.</span>
<a name="l00039"></a>00039 <span class="comment"> * All methods are thread-safe.</span>
<a name="l00040"></a>00040 <span class="comment"> *</span>
<a name="l00041"></a>00041 <span class="comment"> * Basic usage:</span>
<a name="l00042"></a>00042 <span class="comment"> * - When needed, call \a request_memory() to check the availability of memory in the pool.</span>
<a name="l00043"></a>00043 <span class="comment"> * - At your class destructor, donate the memory to the pool with \a dump_to_pool().</span>
<a name="l00044"></a>00044 <span class="comment"> *</span>
<a name="l00045"></a>00045 <span class="comment"> * Notice that memory requests are checked against memory blocks in the pool via a user-defined function:</span>
<a name="l00046"></a>00046 <span class="comment"> *</span>
<a name="l00047"></a>00047 <span class="comment"> * bool POOLABLE_DATA::isSuitable(const POOLABLE_DATA & req) const { ... }</span>
<a name="l00048"></a>00048 <span class="comment"> *</span>
<a name="l00049"></a>00049 <span class="comment"> * For an example of how to handle a memory pool, see the class mrpt::slam::CObservation3DRangeScan</span>
<a name="l00050"></a>00050 <span class="comment"> *</span>
<a name="l00051"></a>00051 <span class="comment"> * \tparam POOLABLE_DATA A struct with user-defined objects which actually contain the memory blocks (e.g. one or more std::vector).</span>
<a name="l00052"></a>00052 <span class="comment"> * \tparam DATA_PARAMS A struct with user information about each memory block (e.g. size of a std::vector)</span>
<a name="l00053"></a>00053 <span class="comment"> * \ingroup mrpt_memory</span>
<a name="l00054"></a>00054 <span class="comment"> */</span>
<a name="l00055"></a>00055 <span class="keyword">template</span> <<span class="keyword">class</span> DATA_PARAMS,<span class="keyword">class</span> POOLABLE_DATA>
<a name="l00056"></a>00056 <span class="keyword">class </span>CGenericMemoryPool
<a name="l00057"></a>00057 {
<a name="l00058"></a>00058 <span class="keyword">private</span>:
<a name="l00059"></a><a class="code" href="classmrpt_1_1system_1_1_c_generic_memory_pool.html#af7eab650913d4bc790385cb41640f632">00059</a> <span class="keyword">typedef</span> std::list<std::pair<DATA_PARAMS,POOLABLE_DATA*> > <a class="code" href="classmrpt_1_1system_1_1_c_generic_memory_pool.html#af7eab650913d4bc790385cb41640f632">TList</a>;
<a name="l00060"></a><a class="code" href="classmrpt_1_1system_1_1_c_generic_memory_pool.html#a348858ea7cc83f0413f33aed477f4453">00060</a> <a class="code" href="classstd_1_1list.html">TList</a> <a class="code" href="classmrpt_1_1system_1_1_c_generic_memory_pool.html#a348858ea7cc83f0413f33aed477f4453">m_pool</a>;
<a name="l00061"></a><a class="code" href="classmrpt_1_1system_1_1_c_generic_memory_pool.html#a7927dc67b0bf6a1cab0f6aa26fd40f63">00061</a> mrpt<a class="code" href="classmrpt_1_1synch_1_1_c_critical_section.html" title="This class provides simple critical sections functionality.">::synch::CCriticalSection</a> <a class="code" href="classmrpt_1_1system_1_1_c_generic_memory_pool.html#a7927dc67b0bf6a1cab0f6aa26fd40f63">m_pool_cs</a>;
<a name="l00062"></a><a class="code" href="classmrpt_1_1system_1_1_c_generic_memory_pool.html#a2e0c767b602037d42612b835db6253fd">00062</a> <span class="keywordtype">size_t</span> <a class="code" href="classmrpt_1_1system_1_1_c_generic_memory_pool.html#a2e0c767b602037d42612b835db6253fd">m_maxPoolEntries</a>;
<a name="l00063"></a>00063
<a name="l00064"></a><a class="code" href="classmrpt_1_1system_1_1_c_generic_memory_pool.html#aa3e23307db805123fe2590eaeb397ae3">00064</a> <a class="code" href="classmrpt_1_1system_1_1_c_generic_memory_pool.html#aa3e23307db805123fe2590eaeb397ae3">CGenericMemoryPool</a>() : <a class="code" href="classmrpt_1_1system_1_1_c_generic_memory_pool.html#a2e0c767b602037d42612b835db6253fd">m_maxPoolEntries</a>(5)
<a name="l00065"></a>00065 {
<a name="l00066"></a>00066 }
<a name="l00067"></a>00067
<a name="l00068"></a>00068 <span class="keyword">public</span>:
<a name="l00069"></a><a class="code" href="classmrpt_1_1system_1_1_c_generic_memory_pool.html#aa71a80e3d32eb387188ba69797136a75">00069</a> <span class="keyword">inline</span> <span class="keywordtype">size_t</span> <a class="code" href="classmrpt_1_1system_1_1_c_generic_memory_pool.html#aa71a80e3d32eb387188ba69797136a75">getMemoryPoolMaxSize</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classmrpt_1_1system_1_1_c_generic_memory_pool.html#a2e0c767b602037d42612b835db6253fd">m_maxPoolEntries</a>; }
<a name="l00070"></a><a class="code" href="classmrpt_1_1system_1_1_c_generic_memory_pool.html#a3a7e4f1726cb557eb6191fb2aec1518a">00070</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1system_1_1_c_generic_memory_pool.html#a3a7e4f1726cb557eb6191fb2aec1518a">setMemoryPoolMaxSize</a>(<span class="keyword">const</span> <span class="keywordtype">size_t</span> maxNumEntries) { <a class="code" href="classmrpt_1_1system_1_1_c_generic_memory_pool.html#a2e0c767b602037d42612b835db6253fd">m_maxPoolEntries</a> = maxNumEntries; }
<a name="l00071"></a>00071 <span class="comment"></span>
<a name="l00072"></a>00072 <span class="comment"> /** Singleton: Return the unique instance of this class for a given template arguments: */</span>
<a name="l00073"></a><a class="code" href="classmrpt_1_1system_1_1_c_generic_memory_pool.html#a09929bb7df16dca1091c47c76403dc6b">00073</a> <span class="keyword">static</span> <a class="code" href="classmrpt_1_1system_1_1_c_generic_memory_pool.html" title="A generic system for versatile memory pooling.">CGenericMemoryPool<DATA_PARAMS,POOLABLE_DATA></a> & <a class="code" href="classmrpt_1_1system_1_1_c_generic_memory_pool.html#a09929bb7df16dca1091c47c76403dc6b" title="Singleton: Return the unique instance of this class for a given template arguments:">getInstance</a>()
<a name="l00074"></a>00074 {
<a name="l00075"></a>00075 <span class="keyword">static</span> <a class="code" href="classmrpt_1_1system_1_1_c_generic_memory_pool.html" title="A generic system for versatile memory pooling.">CGenericMemoryPool<DATA_PARAMS,POOLABLE_DATA></a> inst;
<a name="l00076"></a>00076 <span class="keywordflow">return</span> inst;
<a name="l00077"></a>00077 }
<a name="l00078"></a>00078 <span class="comment"></span>
<a name="l00079"></a>00079 <span class="comment"> /** Request a block of data which fulfils the size requirements stated in \a params.</span>
<a name="l00080"></a>00080 <span class="comment"> * Notice that the decision on the suitability of each pool'ed block is done by DATA_PARAMS::isSuitable().</span>
<a name="l00081"></a>00081 <span class="comment"> * \return The block of data, or NULL if none suitable was found in the pool.</span>
<a name="l00082"></a>00082 <span class="comment"> * \note It is a responsibility of the user to free with "delete" the "POOLABLE_DATA" object itself once the memory has been extracted from its elements.</span>
<a name="l00083"></a>00083 <span class="comment"> */</span>
<a name="l00084"></a><a class="code" href="classmrpt_1_1system_1_1_c_generic_memory_pool.html#aa9bc4767dbd20ca6b0ab25a2b1736bd8">00084</a> POOLABLE_DATA * <a class="code" href="classmrpt_1_1system_1_1_c_generic_memory_pool.html#aa9bc4767dbd20ca6b0ab25a2b1736bd8" title="Request a block of data which fulfils the size requirements stated in params.">request_memory</a>(<span class="keyword">const</span> DATA_PARAMS &params)
<a name="l00085"></a>00085 {
<a name="l00086"></a>00086 <span class="comment">// A quick check first:</span>
<a name="l00087"></a>00087 <span class="keywordflow">if</span> (<a class="code" href="classmrpt_1_1system_1_1_c_generic_memory_pool.html#a348858ea7cc83f0413f33aed477f4453">m_pool</a>.empty()) <span class="keywordflow">return</span> NULL;
<a name="l00088"></a>00088
<a name="l00089"></a>00089 mrpt<a class="code" href="classmrpt_1_1synch_1_1_c_critical_section_locker.html" title="A class acquiring a CCriticalSection at its constructor, and releasing it at destructor.">::synch::CCriticalSectionLocker</a> lock( &<a class="code" href="classmrpt_1_1system_1_1_c_generic_memory_pool.html#a7927dc67b0bf6a1cab0f6aa26fd40f63">m_pool_cs</a> );
<a name="l00090"></a>00090 <span class="keywordflow">for</span> (<span class="keyword">typename</span> <a class="code" href="eigen__plugins_8h.html#a39c5d6430ea9395ae7ae729dd0c3f18c">TList::iterator</a> it=<a class="code" href="classmrpt_1_1system_1_1_c_generic_memory_pool.html#a348858ea7cc83f0413f33aed477f4453">m_pool</a>.begin();it!=<a class="code" href="classmrpt_1_1system_1_1_c_generic_memory_pool.html#a348858ea7cc83f0413f33aed477f4453">m_pool</a>.end();++it) {
<a name="l00091"></a>00091 <span class="keywordflow">if</span> (it->first.isSuitable(params))
<a name="l00092"></a>00092 {
<a name="l00093"></a>00093 POOLABLE_DATA * ret = it->second;
<a name="l00094"></a>00094 <a class="code" href="classmrpt_1_1system_1_1_c_generic_memory_pool.html#a348858ea7cc83f0413f33aed477f4453">m_pool</a>.erase(it);
<a name="l00095"></a>00095 <span class="keywordflow">return</span> ret;
<a name="l00096"></a>00096 }
<a name="l00097"></a>00097 }
<a name="l00098"></a>00098 <span class="keywordflow">return</span> NULL;
<a name="l00099"></a>00099 }
<a name="l00100"></a>00100 <span class="comment"></span>
<a name="l00101"></a>00101 <span class="comment"> /** Saves the passed data block (characterized by \a params) to the pool.</span>
<a name="l00102"></a>00102 <span class="comment"> * If the overall size of the pool is above the limit, the oldest entry is removed.</span>
<a name="l00103"></a>00103 <span class="comment"> * \note It is a responsibility of the user to allocate in dynamic memory the "POOLABLE_DATA" object with "new".</span>
<a name="l00104"></a>00104 <span class="comment"> */</span>
<a name="l00105"></a><a class="code" href="classmrpt_1_1system_1_1_c_generic_memory_pool.html#a65604586556f626575a94e420bd74745">00105</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1system_1_1_c_generic_memory_pool.html#a65604586556f626575a94e420bd74745" title="Saves the passed data block (characterized by params) to the pool.">dump_to_pool</a>(<span class="keyword">const</span> DATA_PARAMS &params, POOLABLE_DATA *block)
<a name="l00106"></a>00106 {
<a name="l00107"></a>00107 mrpt<a class="code" href="classmrpt_1_1synch_1_1_c_critical_section_locker.html" title="A class acquiring a CCriticalSection at its constructor, and releasing it at destructor.">::synch::CCriticalSectionLocker</a> lock( &<a class="code" href="classmrpt_1_1system_1_1_c_generic_memory_pool.html#a7927dc67b0bf6a1cab0f6aa26fd40f63">m_pool_cs</a> );
<a name="l00108"></a>00108
<a name="l00109"></a>00109 <span class="keywordflow">while</span> (<a class="code" href="classmrpt_1_1system_1_1_c_generic_memory_pool.html#a348858ea7cc83f0413f33aed477f4453">m_pool</a>.size()>=<a class="code" href="classmrpt_1_1system_1_1_c_generic_memory_pool.html#a2e0c767b602037d42612b835db6253fd">m_maxPoolEntries</a>) <span class="comment">// Free old data if needed</span>
<a name="l00110"></a>00110 <a class="code" href="classmrpt_1_1system_1_1_c_generic_memory_pool.html#a348858ea7cc83f0413f33aed477f4453">m_pool</a>.erase(<a class="code" href="classmrpt_1_1system_1_1_c_generic_memory_pool.html#a348858ea7cc83f0413f33aed477f4453">m_pool</a>.begin());
<a name="l00111"></a>00111
<a name="l00112"></a>00112 <a class="code" href="classmrpt_1_1system_1_1_c_generic_memory_pool.html#a348858ea7cc83f0413f33aed477f4453">m_pool</a>.push_back( <span class="keyword">typename</span> <a class="code" href="eigen__plugins_8h.html#afd07186978da46f9908364e389f8a403" title="Type of the elements.">TList::value_type</a>(params,block) );
<a name="l00113"></a>00113 }
<a name="l00114"></a>00114
<a name="l00115"></a><a class="code" href="classmrpt_1_1system_1_1_c_generic_memory_pool.html#a6be7432c38925ce4032a8719abcdb5d9">00115</a> <a class="code" href="classmrpt_1_1system_1_1_c_generic_memory_pool.html#a6be7432c38925ce4032a8719abcdb5d9">~CGenericMemoryPool</a>()
<a name="l00116"></a>00116 {
<a name="l00117"></a>00117 <span class="comment">// Free remaining memory blocks:</span>
<a name="l00118"></a>00118 mrpt<a class="code" href="classmrpt_1_1synch_1_1_c_critical_section_locker.html" title="A class acquiring a CCriticalSection at its constructor, and releasing it at destructor.">::synch::CCriticalSectionLocker</a> lock( &<a class="code" href="classmrpt_1_1system_1_1_c_generic_memory_pool.html#a7927dc67b0bf6a1cab0f6aa26fd40f63">m_pool_cs</a> );
<a name="l00119"></a>00119 <span class="keywordflow">for</span> (<span class="keyword">typename</span> <a class="code" href="eigen__plugins_8h.html#a39c5d6430ea9395ae7ae729dd0c3f18c">TList::iterator</a> it=<a class="code" href="classmrpt_1_1system_1_1_c_generic_memory_pool.html#a348858ea7cc83f0413f33aed477f4453">m_pool</a>.begin();it!=<a class="code" href="classmrpt_1_1system_1_1_c_generic_memory_pool.html#a348858ea7cc83f0413f33aed477f4453">m_pool</a>.end();++it)
<a name="l00120"></a>00120 <span class="keyword">delete</span> it->second;
<a name="l00121"></a>00121 <a class="code" href="classmrpt_1_1system_1_1_c_generic_memory_pool.html#a348858ea7cc83f0413f33aed477f4453">m_pool</a>.clear();
<a name="l00122"></a>00122 }
<a name="l00123"></a>00123 };
<a name="l00124"></a>00124
<a name="l00125"></a>00125 } <span class="comment">// End of namespace</span>
<a name="l00126"></a>00126 } <span class="comment">// End of namespace</span>
<a name="l00127"></a>00127
<a name="l00128"></a>00128 <span class="preprocessor">#endif</span>
</pre></div></div>
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