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Commit 0e4e4a4c authored by vahrenkamp's avatar vahrenkamp
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Fixing memory leak that was caused by a cyclic shared_ptr reference between... 

Fixing memory leak that was caused by a cyclic shared_ptr reference between Robot an RobotConfig. Now RobotConfig uses a weak pointer to a Robot instance.

git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@218 042f3d55-54a8-47e9-b7fb-15903f145c44
parent f7730ff3
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VirtualRobot/EndEffector/EndEffector.cpp
+ 5
− 0
View file @ 0e4e4a4c
......@@ -37,6 +37,11 @@ EndEffector::EndEffector(const std::string& nameString, const std::vector<EndEff
}
}
EndEffector::~EndEffector()
{
}
EndEffectorPtr EndEffector::clone(RobotPtr newRobot)
{
if(!newRobot)
......
VirtualRobot/EndEffector/EndEffector.h
+ 1
− 0
View file @ 0e4e4a4c
......@@ -56,6 +56,7 @@ public:
EndEffector(const std::string& nameString, const std::vector<EndEffectorActorPtr>& actorsVector, const std::vector<RobotNodePtr>& staticPartVector, RobotNodePtr baseNodePtr, RobotNodePtr tcpNodePtr, RobotNodePtr gcpNodePtr = RobotNodePtr(), std::vector< RobotConfigPtr > preshapes = std::vector< RobotConfigPtr >());
virtual ~EndEffector();
/*!
Clones this eef and performs all necessary registrations.
(Be careful: no need to call registerEEF with newly created eef, since this is already done)
......
VirtualRobot/RobotConfig.cpp
+ 59
− 28
View file @ 0e4e4a4c
......@@ -7,40 +7,40 @@
namespace VirtualRobot
{
RobotConfig::RobotConfig(RobotPtr robot, const std::string &name)
RobotConfig::RobotConfig(RobotWeakPtr robot, const std::string &name)
: name(name),
robot(robot)
{
THROW_VR_EXCEPTION_IF(!robot,"NULL robot in RobotConfig");
THROW_VR_EXCEPTION_IF(!robot.lock(),"NULL robot in RobotConfig");
}
RobotConfig::RobotConfig(RobotPtr robot, const std::string &name, const std::vector< Configuration > &configs)
RobotConfig::RobotConfig(RobotWeakPtr robot, const std::string &name, const std::vector< Configuration > &configs)
: name(name),
robot(robot)
{
THROW_VR_EXCEPTION_IF(!robot,"NULL robot in RobotConfig");
THROW_VR_EXCEPTION_IF(!robot.lock(),"NULL robot in RobotConfig");
for (std::vector< Configuration >::const_iterator i=configs.begin(); i!=configs.end(); i++ )
{
setConfig((*i));
}
}
RobotConfig::RobotConfig(RobotPtr robot, const std::string &name, const std::map< RobotNodePtr, float > &configs)
RobotConfig::RobotConfig(RobotWeakPtr robot, const std::string &name, const std::map< RobotNodePtr, float > &configs)
: name(name),
robot(robot)
{
THROW_VR_EXCEPTION_IF(!robot,"NULL robot in RobotConfig");
THROW_VR_EXCEPTION_IF(!robot.lock(),"NULL robot in RobotConfig");
for (std::map< RobotNodePtr, float >::const_iterator i=configs.begin(); i!=configs.end(); i++ )
{
setConfig(i->first,i->second);
}
}
RobotConfig::RobotConfig(RobotPtr robot, const std::string &name, const std::vector< std::string > &robotNodes, const std::vector< float > &values)
RobotConfig::RobotConfig(RobotWeakPtr robot, const std::string &name, const std::vector< std::string > &robotNodes, const std::vector< float > &values)
: name(name),
robot(robot)
{
THROW_VR_EXCEPTION_IF(!robot,"NULL robot in RobotConfig");
THROW_VR_EXCEPTION_IF(!robot.lock(),"NULL robot in RobotConfig");
THROW_VR_EXCEPTION_IF(robotNodes.size() != values.size(),"Vector sizes have to be equal in RobotConfig");
for (size_t i=0;i<robotNodes.size();i++)
{
......@@ -48,11 +48,11 @@ RobotConfig::RobotConfig(RobotPtr robot, const std::string &name, const std::vec
}
}
RobotConfig::RobotConfig(RobotPtr robot, const std::string &name, const std::vector< RobotNodePtr > &robotNodes, const std::vector< float > &values)
RobotConfig::RobotConfig(RobotWeakPtr robot, const std::string &name, const std::vector< RobotNodePtr > &robotNodes, const std::vector< float > &values)
: name(name),
robot(robot)
{
THROW_VR_EXCEPTION_IF(!robot,"NULL robot in RobotConfig");
THROW_VR_EXCEPTION_IF(!robot.lock(),"NULL robot in RobotConfig");
THROW_VR_EXCEPTION_IF(robotNodes.size() != values.size(),"Vector sizes have to be equal in RobotConfig");
for (size_t i=0;i<robotNodes.size();i++)
{
......@@ -71,31 +71,48 @@ void RobotConfig::print() const
}
}
void RobotConfig::setConfig( const Configuration &c )
bool RobotConfig::setConfig( const Configuration &c )
{
THROW_VR_EXCEPTION_IF(!robot,"Null data");
setConfig(c.name,c.value);
return setConfig(c.name,c.value);
}
void RobotConfig::setConfig( const std::string &node, float value )
bool RobotConfig::setConfig( const std::string &node, float value )
{
THROW_VR_EXCEPTION_IF(!robot,"Null data");
RobotNodePtr rn = robot->getRobotNode(node);
THROW_VR_EXCEPTION_IF(!rn,"Did not find robot node with name " << node);
RobotPtr r = robot.lock();
if (!r)
{
VR_WARNING << "Robot is already deleted, skipping update..." << endl;
return false;
}
RobotNodePtr rn = r->getRobotNode(node);
if (!rn)
{
VR_WARNING << "Did not find robot node with name " << node << endl;
return false;
}
configs[rn] = value;
return true;
}
void RobotConfig::setConfig( RobotNodePtr node, float value )
bool RobotConfig::setConfig( RobotNodePtr node, float value )
{
THROW_VR_EXCEPTION_IF(!robot,"Null data");
THROW_VR_EXCEPTION_IF(!node,"Null data");
THROW_VR_EXCEPTION_IF(!robot->hasRobotNode(node),"Robot node with name " << node->getName() << " does not belong to robot " << robot->getName());
RobotPtr r = robot.lock();
if (!r)
{
VR_WARNING << "Robot is already deleted, skipping update..." << endl;
return false;
}
THROW_VR_EXCEPTION_IF(!r->hasRobotNode(node),"RobotNode with name " << r->getName() << " does not belong to robot " << r->getName());
configs[node] = value;
return true;
}
VirtualRobot::RobotPtr RobotConfig::getRobot()
{
return robot;
return robot.lock();
}
std::string RobotConfig::getName() const
......@@ -106,7 +123,9 @@ std::string RobotConfig::getName() const
RobotConfigPtr RobotConfig::clone( RobotPtr newRobot )
{
if (!newRobot)
newRobot = robot;
newRobot = robot.lock();
VR_ASSERT (newRobot);
std::map< RobotNodePtr, float > newConfigs;
std::map< RobotNodePtr, float >::iterator i = configs.begin();
while (i!=configs.end())
......@@ -126,14 +145,20 @@ RobotConfigPtr RobotConfig::clone( RobotPtr newRobot )
}
void RobotConfig::setJointValues()
bool RobotConfig::setJointValues()
{
THROW_VR_EXCEPTION_IF(!robot,"Null data");
RobotPtr r = robot.lock();
if (!r)
{
VR_WARNING << "Robot is already deleted, skipping update..." << endl;
return false;
}
for (std::map< RobotNodePtr, float >::const_iterator i=configs.begin(); i!=configs.end(); i++ )
{
i->first->setJointValue(i->second, false, true);
}
robot->applyJointValues();
r->applyJointValues();
return true;
}
bool RobotConfig::hasConfig( const std::string & name ) const
......@@ -151,7 +176,13 @@ float RobotConfig::getConfig( const std::string & name ) const
{
if (!hasConfig(name))
return 0.0f;
RobotNodePtr rn = robot->getRobotNode(name);
RobotPtr r = robot.lock();
if (!r)
{
VR_WARNING << "Robot is already deleted..." << endl;
return 0.0f;
}
RobotNodePtr rn = r->getRobotNode(name);
THROW_VR_EXCEPTION_IF(!rn,"Did not find robot node with name " << name);
std::map< RobotNodePtr, float >::const_iterator i = configs.find(rn);
if (i==configs.end())
......@@ -209,10 +240,10 @@ bool RobotConfig::applyToRobot( RobotPtr r )
RobotNodePtr rn = r->getRobotNode(i->first);
if (!rn)
return false;
rn->setJointValue(i->second);
rn->setJointValue(i->second,false);
i++;
}
robot->applyJointValues();
r->applyJointValues();
return true;
}
......
VirtualRobot/RobotConfig.h
+ 17
− 11
View file @ 0e4e4a4c
......@@ -46,11 +46,11 @@ public:
float value; //!< The corresponding value
};
RobotConfig(RobotPtr robot, const std::string &name);
RobotConfig(RobotPtr robot, const std::string &name, const std::map< RobotNodePtr, float > &configs);
RobotConfig(RobotPtr robot, const std::string &name, const std::vector< Configuration > &configs);
RobotConfig(RobotPtr robot, const std::string &name, const std::vector< std::string > &robotNodes, const std::vector< float > &values);
RobotConfig(RobotPtr robot, const std::string &name, const std::vector< RobotNodePtr > &robotNodes, const std::vector< float > &values);
RobotConfig(RobotWeakPtr robot, const std::string &name);
RobotConfig(RobotWeakPtr robot, const std::string &name, const std::map< RobotNodePtr, float > &configs);
RobotConfig(RobotWeakPtr robot, const std::string &name, const std::vector< Configuration > &configs);
RobotConfig(RobotWeakPtr robot, const std::string &name, const std::vector< std::string > &robotNodes, const std::vector< float > &values);
RobotConfig(RobotWeakPtr robot, const std::string &name, const std::vector< RobotNodePtr > &robotNodes, const std::vector< float > &values);
/*!
Creates a copy of this object with the given robot
......@@ -65,20 +65,26 @@ public:
void print() const;
/*!
The robot.
\return A shared_ptr instance of the internally stored weak pointer.
*/
RobotPtr getRobot();
/*!
Appends a configuration to this instance
Appends a configuration to this instance.
\param True on success. False if robot is not present any more (may happen due to the use of weak pointers).
*/
void setConfig (const Configuration &c);
void setConfig (RobotNodePtr node, float value);
void setConfig (const std::string &node, float value);
bool setConfig (const Configuration &c);
bool setConfig (RobotNodePtr node, float value);
bool setConfig (const std::string &node, float value);
/*!
Apply the stored configurations to the corresponding robot.
RobotNodes that are not stored in this RobotConfig are not affected.
\param True on success. False if robot is not present any more (may happen due to the use of weak pointers).
*/
void setJointValues();
bool setJointValues();
/*!
Check if a configuration for a RobotNode with name is stored.
......@@ -109,7 +115,7 @@ protected:
std::string name;
std::map< RobotNodePtr, float > configs;
RobotPtr robot;
RobotWeakPtr robot;
};
......
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