niklas/rclcpp
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

Merge pull request #158 from ros2/redundant_allocator_constructions

Browse source 
Remove redundant vector initializations in allocator_memory_strategy
This commit is contained in:
Jackie Kay 2015-11-19 10:52:51 -08:00
commit 6e596336df
3 changed files with 17 additions and 30 deletions
Download patch file Download diff file Expand all files Collapse all files

2
rclcpp/include/rclcpp/memory_strategy.hpp
View file

@ -52,7 +52,7 @@ public:
virtual void clear_active_entities() = 0;
virtual void clear_handles() = 0;
virtual void revalidate_handles() = 0;
virtual void remove_null_handles() = 0;
virtual bool collect_entities(const WeakNodeVector & weak_nodes) = 0;
/// Provide a newly initialized AnyExecutable object.

43
rclcpp/include/rclcpp/strategies/allocator_memory_strategy.hpp
View file

@ -108,35 +108,22 @@ public:
client_handles_.clear();
}
void revalidate_handles()
void remove_null_handles()
{
{
VectorRebind<void *> temp;
for (auto & subscriber_handle : subscriber_handles_) {
if (subscriber_handle) {
temp.push_back(subscriber_handle);
}
}
subscriber_handles_.swap(temp);
}
{
VectorRebind<void *> temp;
for (auto & service_handle : service_handles_) {
if (service_handle) {
temp.push_back(service_handle);
}
}
service_handles_.swap(temp);
}
{
VectorRebind<void *> temp;
for (auto & client_handle : client_handles_) {
if (client_handle) {
temp.push_back(client_handle);
}
}
client_handles_.swap(temp);
}
subscriber_handles_.erase(
std::remove(subscriber_handles_.begin(), subscriber_handles_.end(), nullptr),
subscriber_handles_.end()
);
service_handles_.erase(
std::remove(service_handles_.begin(), service_handles_.end(), nullptr),
service_handles_.end()
);
client_handles_.erase(
std::remove(client_handles_.begin(), client_handles_.end(), nullptr),
client_handles_.end()
);
}
bool collect_entities(const WeakNodeVector & weak_nodes)

2
rclcpp/src/rclcpp/executor.cpp
View file

@ -379,7 +379,7 @@ Executor::wait_for_work(std::chrono::nanoseconds timeout)
return;
}
memory_strategy_->revalidate_handles();
memory_strategy_->remove_null_handles();
}
rclcpp::node::Node::SharedPtr