base_map_pool.h

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/******************************************************************************
 * Copyright 2019 The Apollo Authors. All Rights Reserved.
 *
 * 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.
 *****************************************************************************/
#pragma once

#include <list>
#include <set>

#include <boost/thread.hpp>

#include "Eigen/Core"

#include "cyber/task/task.h"
#include "modules/localization/msf/local_pyramid_map/base_map/base_map_fwd.h"

namespace apollo {
namespace localization {
namespace msf {
namespace pyramid_map {

class BaseMapNodePool {
 public:
  BaseMapNodePool(unsigned int pool_size, unsigned int thread_size);
  virtual ~BaseMapNodePool();
  void Initial(const BaseMapConfig* map_config, bool is_fixed_size = true);
  void Release();
  BaseMapNode* AllocMapNode();
  void FreeMapNode(BaseMapNode* map_node);
  unsigned int GetPoolSize() { return pool_size_; }

 private:
  void FreeMapNodeTask(BaseMapNode* map_node);
  virtual BaseMapNode* AllocNewMapNode() = 0;
  virtual void InitNewMapNode(BaseMapNode* node);
  virtual void FinalizeMapNode(BaseMapNode* node);
  virtual void DellocMapNode(BaseMapNode* node);
  virtual void ResetMapNode(BaseMapNode* node);

 protected:
  bool is_fixed_size_ = 0;
  std::list<BaseMapNode*> free_list_;
  std::set<BaseMapNode*> busy_nodes_;
  unsigned int pool_size_ = 0;
  std::future<void> node_reset_workers_;
  boost::mutex mutex_;
  const BaseMapConfig* map_config_ = nullptr;
};

}  // namespace pyramid_map
}  // namespace msf
}  // namespace localization
}  // namespace apollo