Merge pull request #106 from ros2/rt_memory_strategy

StaticMemoryStrategy -> HeapPoolMemoryStrategy, create StackPoolMemoryStrategy

rclcpp/include/rclcpp/memory_strategies.hpp

@@ -15,14 +15,16 @@
 #ifndef RCLCPP_RCLCPP_MEMORY_STRATEGIES_HPP_
 #define RCLCPP_RCLCPP_MEMORY_STRATEGIES_HPP_
 
-#include <rclcpp/strategies/static_memory_strategy.hpp>
+#include <rclcpp/strategies/heap_pool_memory_strategy.hpp>
+#include <rclcpp/strategies/stack_pool_memory_strategy.hpp>
 
 namespace rclcpp
 {
 namespace memory_strategies
 {
 
-using rclcpp::memory_strategies::static_memory_strategy::StaticMemoryStrategy;
+using rclcpp::memory_strategies::heap_pool_memory_strategy::HeapPoolMemoryStrategy;
+using rclcpp::memory_strategies::stack_pool_memory_strategy::StackPoolMemoryStrategy;
 
 }  /* memory_strategies */
 }  /* rclcpp */

rclcpp/include/rclcpp/strategies/heap_pool_memory_strategy.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLCPP_RCLCPP_STATIC_MEMORY_STRATEGY_HPP_
+#ifndef RCLCPP_RCLCPP_HEAP_POOL_MEMORY_STRATEGY_HPP_
-#define RCLCPP_RCLCPP_STATIC_MEMORY_STRATEGY_HPP_
+#define RCLCPP_RCLCPP_HEAP_POOL_MEMORY_STRATEGY_HPP_
 
 #include <unordered_map>
 
@@ -25,7 +25,7 @@ namespace rclcpp
 namespace memory_strategies
 {
 
-namespace static_memory_strategy
+namespace heap_pool_memory_strategy
 {
 
 /// Representation of the upper bounds on the memory pools managed by StaticMemoryStrategy.
@@ -115,21 +115,18 @@ public:
 };
 
 
-/// Static memory allocation alternative to the default memory strategy.
+/// Heap-based memory pool allocation strategy, an alternative to the default memory strategy.
 /**
- * The name is a bit of a misnomer. The memory managed by this class is actually allocated
+ * The memory managed by this class is allocated dynamically in the constructor, but no subsequent
- * dynamically in the constructor, but no subsequent accesses to the class (besides the destructor)
+ * accesses to the class (besides the destructor) allocate or free memory.
- * allocate or free memory.
+ * HeapPoolMemoryStrategy puts a hard limit on the number of subscriptions, etc. that can be executed
- * StaticMemoryStrategy puts a hard limit on the number of subscriptions, etc. that can be executed
  * in one iteration of `Executor::spin`. Thus it allows for memory allocation optimization for
  * situations where a limit on the number of such entities is known.
  */
-class StaticMemoryStrategy : public memory_strategy::MemoryStrategy
+class HeapPoolMemoryStrategy : public memory_strategy::MemoryStrategy
 {
 public:
-  /// Default constructor.
+  HeapPoolMemoryStrategy(ObjectPoolBounds bounds = ObjectPoolBounds())
-  // \param[in] bounds Representation of the limits on memory managed by this class.
-  StaticMemoryStrategy(ObjectPoolBounds bounds = ObjectPoolBounds())
   : bounds_(bounds), memory_pool_(nullptr), subscription_pool_(nullptr),
     service_pool_(nullptr), guard_condition_pool_(nullptr), executable_pool_(nullptr)
   {
@@ -177,7 +174,7 @@ public:
   }
 
   /// Default destructor. Free all allocated memory.
-  ~StaticMemoryStrategy()
+  ~HeapPoolMemoryStrategy()
   {
     if (bounds_.pool_size) {
       delete[] memory_pool_;
@@ -196,12 +193,6 @@ public:
     }
   }
 
-  /// Borrow handles by returning a pointer to the preallocated object pool for the specified type.
-  /**
-   * \param[in] The type of entity that this function is requesting for.
-   * \param[in] The number of handles to borrow.
-   * \return Pointer to the allocated handles.
-   */
   void ** borrow_handles(HandleType type, size_t number_of_handles)
   {
     switch (type) {
@@ -235,11 +226,6 @@ public:
     throw std::runtime_error("Unrecognized enum, could not borrow handle memory.");
   }
 
-  /// Return the borrowed handles by clearing the object pool for the correspondign type.
-  /**
-   * \param[in] The type of entity that this function is returning.
-   * \param[in] Pointer to the handles returned.
-   */
   void return_handles(HandleType type, void ** handles)
   {
     (void)handles;
@@ -269,12 +255,10 @@ public:
     }
   }
 
-  /// Instantiate the next executable by borrowing space from the preallocated executables pool.
-  // \return Shared pointer to the executable.
   executor::AnyExecutable::SharedPtr instantiate_next_executable()
   {
     if (exec_seq_ >= bounds_.max_executables) {
-      // wrap around (ring buffer logic)
+      // wrap around
       exec_seq_ = 0;
     }
     size_t prev_exec_seq_ = exec_seq_;
@@ -284,7 +268,6 @@ public:
       throw std::runtime_error("Executable pool member was NULL");
     }
 
-    // Make sure to clear the executable fields.
     executable_pool_[prev_exec_seq_]->subscription.reset();
     executable_pool_[prev_exec_seq_]->timer.reset();
     executable_pool_[prev_exec_seq_]->service.reset();
@@ -295,11 +278,6 @@ public:
     return executable_pool_[prev_exec_seq_];
   }
 
-  /// General allocate: reserve space in the memory pool reserved by this function.
-  /**
-   * \param[in] size Number of bytes to allocate.
-   * \return Pointer to the allocated chunk of memory.
-   */
   void * alloc(size_t size)
   {
     // Extremely naive static allocation strategy
@@ -311,7 +289,7 @@ public:
     void * ptr = memory_pool_[pool_seq_];
     if (memory_map_.count(ptr) == 0) {
       // We expect to have the state for all blocks pre-mapped into memory_map_
-      throw std::runtime_error("Unexpected pointer in StaticMemoryStrategy::alloc.");
+      throw std::runtime_error("Unexpected pointer in HeapPoolMemoryStrategy::alloc.");
     }
     memory_map_[ptr] = size;
     size_t prev_pool_seq = pool_seq_;
@@ -319,15 +297,11 @@ public:
     return memory_pool_[prev_pool_seq];
   }
 
-  /// Release the allocated memory in the memory pool.
-  /**
-   * \param[in] Pointer to deallocate.
-   */
   void free(void * ptr)
   {
     if (memory_map_.count(ptr) == 0) {
       // We expect to have the state for all blocks pre-mapped into memory_map_
-      throw std::runtime_error("Unexpected pointer in StaticMemoryStrategy::free.");
+      throw std::runtime_error("Unexpected pointer in HeapPoolMemoryStrategy::free.");
     }
 
     memset(ptr, 0, memory_map_[ptr]);
@@ -349,7 +323,7 @@ private:
   std::unordered_map<void *, size_t> memory_map_;
 };
 
-}  /* static_memory_strategy */
+}  /* heap_pool_memory_strategy */
 
 }  /* memory_strategies */
 

rclcpp/include/rclcpp/strategies/stack_pool_memory_strategy.hpp

@@ -0,0 +1,216 @@
+// 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_RCLCPP_STACK_POOL_MEMORY_STRATEGY_HPP_
+#define RCLCPP_RCLCPP_STACK_POOL_MEMORY_STRATEGY_HPP_
+
+#include <unordered_map>
+
+#include <rclcpp/memory_strategy.hpp>
+
+namespace rclcpp
+{
+
+namespace memory_strategies
+{
+
+namespace stack_pool_memory_strategy
+{
+
+/// Stack-based memory pool allocation strategy, an alternative to the default memory strategy.
+/**
+ * The memory managed by this class is allocated statically (on the heap) in the constructor.
+ * StackPoolMemoryStrategy puts a hard limit on the number of subscriptions, etc. that can be
+ * executed in one iteration of `Executor::spin`. Thus it allows for memory allocation optimization
+ * for situations where a limit on the number of such entities is known.
+ * Because this class is templated on the sizes of the memory pools for each entity, the amount of
+ * memory required by this class is known at compile time.
+ */
+template<size_t MaxSubscriptions = 10, size_t MaxServices = 10, size_t MaxClients = 10,
+size_t MaxExecutables = 1, size_t MaxGuardConditions = 2, size_t PoolSize = 0>
+class StackPoolMemoryStrategy : public memory_strategy::MemoryStrategy
+{
+public:
+  StackPoolMemoryStrategy()
+  {
+    if (PoolSize) {
+      memory_pool_.fill(0);
+    }
+
+    if (MaxSubscriptions) {
+      subscription_pool_.fill(0);
+    }
+
+    if (MaxServices) {
+      service_pool_.fill(0);
+    }
+
+    if (MaxClients) {
+      client_pool_.fill(0);
+    }
+
+    if (MaxGuardConditions) {
+      guard_condition_pool_.fill(0);
+    }
+
+    for (size_t i = 0; i < MaxExecutables; ++i) {
+      executable_pool_[i] = std::make_shared<executor::AnyExecutable>();
+    }
+
+    pool_seq_ = 0;
+    exec_seq_ = 0;
+
+    // Reserve pool_size_ buckets in the memory map.
+    memory_map_.reserve(PoolSize);
+    for (size_t i = 0; i < PoolSize; ++i) {
+      memory_map_[memory_pool_[i]] = 0;
+    }
+  }
+
+  void ** borrow_handles(HandleType type, size_t number_of_handles)
+  {
+    switch (type) {
+      case HandleType::subscription_handle:
+        if (number_of_handles > MaxSubscriptions) {
+          throw std::runtime_error("Requested size exceeded maximum subscriptions.");
+        }
+
+        return subscription_pool_.data();
+      case HandleType::service_handle:
+        if (number_of_handles > MaxServices) {
+          throw std::runtime_error("Requested size exceeded maximum services.");
+        }
+
+        return service_pool_.data();
+      case HandleType::client_handle:
+        if (number_of_handles > MaxClients) {
+          throw std::runtime_error("Requested size exceeded maximum clients.");
+        }
+
+        return client_pool_.data();
+      case HandleType::guard_condition_handle:
+        if (number_of_handles > MaxGuardConditions) {
+          throw std::runtime_error("Requested size exceeded maximum guard_conditions.");
+        }
+
+        return guard_condition_pool_.data();
+      default:
+        break;
+    }
+    throw std::runtime_error("Unrecognized enum, could not borrow handle memory.");
+  }
+
+  void return_handles(HandleType type, void ** handles)
+  {
+    (void)handles;
+    switch (type) {
+      case HandleType::subscription_handle:
+        if (MaxSubscriptions) {
+          subscription_pool_.fill(0);
+        }
+        break;
+      case HandleType::service_handle:
+        if (MaxServices) {
+          service_pool_.fill(0);
+        }
+        break;
+      case HandleType::client_handle:
+        if (MaxClients) {
+          client_pool_.fill(0);
+        }
+        break;
+      case HandleType::guard_condition_handle:
+        if (MaxGuardConditions) {
+          guard_condition_pool_.fill(0);
+        }
+        break;
+      default:
+        throw std::runtime_error("Unrecognized enum, could not return handle memory.");
+    }
+  }
+
+  executor::AnyExecutable::SharedPtr instantiate_next_executable()
+  {
+    if (exec_seq_ >= MaxExecutables) {
+      // wrap around
+      exec_seq_ = 0;
+    }
+    size_t prev_exec_seq_ = exec_seq_;
+    ++exec_seq_;
+
+    if (!executable_pool_[prev_exec_seq_]) {
+      throw std::runtime_error("Executable pool member was NULL");
+    }
+
+    // Make sure to clear the executable fields.
+    executable_pool_[prev_exec_seq_]->subscription.reset();
+    executable_pool_[prev_exec_seq_]->timer.reset();
+    executable_pool_[prev_exec_seq_]->service.reset();
+    executable_pool_[prev_exec_seq_]->client.reset();
+    executable_pool_[prev_exec_seq_]->callback_group.reset();
+    executable_pool_[prev_exec_seq_]->node.reset();
+
+    return executable_pool_[prev_exec_seq_];
+  }
+
+  void * alloc(size_t size)
+  {
+    // Extremely naive static allocation strategy
+    // Keep track of block size at a given pointer
+    if (pool_seq_ + size > PoolSize) {
+      // Start at 0
+      pool_seq_ = 0;
+    }
+    void * ptr = memory_pool_[pool_seq_];
+    if (memory_map_.count(ptr) == 0) {
+      // We expect to have the state for all blocks pre-mapped into memory_map_
+      throw std::runtime_error("Unexpected pointer in StackPoolMemoryStrategy::alloc.");
+    }
+    memory_map_[ptr] = size;
+    size_t prev_pool_seq = pool_seq_;
+    pool_seq_ += size;
+    return memory_pool_[prev_pool_seq];
+  }
+
+  void free(void * ptr)
+  {
+    if (memory_map_.count(ptr) == 0) {
+      // We expect to have the state for all blocks pre-mapped into memory_map_
+      throw std::runtime_error("Unexpected pointer in StackPoolMemoryStrategy::free.");
+    }
+
+    memset(ptr, 0, memory_map_[ptr]);
+  }
+
+private:
+  std::array<void *, PoolSize> memory_pool_;
+  std::array<void *, MaxSubscriptions> subscription_pool_;
+  std::array<void *, MaxServices> service_pool_;
+  std::array<void *, MaxClients> client_pool_;
+  std::array<void *, MaxGuardConditions> guard_condition_pool_;
+  std::array<executor::AnyExecutable::SharedPtr, MaxExecutables> executable_pool_;
+
+  size_t pool_seq_;
+  size_t exec_seq_;
+
+  std::unordered_map<void *, size_t> memory_map_;
+};
+
+}  /* stack_pool_memory_strategy */
+
+}  /* memory_strategies */
+
+}  /* rclcpp */
+
+#endif