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BUGFIX: read ahead cache memory for rosbag2 was not freed #70

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merged 1 commit into from
Sep 12, 2024
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BUGFIX: read ahead cache memory for rosbag2 was not freed #70

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11 changes: 7 additions & 4 deletions mola_input_rosbag2/include/mola_input_rosbag2/Rosbag2Dataset.h
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Original file line number Diff line number Diff line change
Expand Up @@ -144,10 +144,11 @@ class Rosbag2Dataset : public RawDataSourceBase,
/** At initialization
*
*/
std::vector<std::optional<DatasetEntry>> read_ahead_;
size_t rosbag_next_idx_ = 0;
size_t rosbag_next_idx_write_ = 0;
std::set<std::string> already_pub_sensor_labels_;
mutable std::vector<std::optional<DatasetEntry>> read_ahead_;
size_t rosbag_next_idx_ = 0;
size_t rosbag_next_idx_write_ = 0;
std::set<std::string> already_pub_sensor_labels_;
mutable std::deque<size_t> unload_queue_; //!< read_ahead_ indices

// Methods and variables for the ROS->MRPT conversion
// -------------------------------------------------------
Expand Down Expand Up @@ -200,6 +201,8 @@ class Rosbag2Dataset : public RawDataSourceBase,

Obs catchExceptions(const std::function<Obs()>& f);

void autoUnloadOldEntries() const;

bool findOutSensorPose(
mrpt::poses::CPose3D& des, const std::string& target_frame,
const std::string& source_frame,
Expand Down
23 changes: 20 additions & 3 deletions mola_input_rosbag2/src/Rosbag2Dataset.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -531,9 +531,6 @@ void Rosbag2Dataset::spinOnce()
}
}

// Free memory in read-ahead buffer:
read_ahead_.at(rosbag_next_idx_).reset();

// Move on:
rosbag_next_idx_++;
}
Expand Down Expand Up @@ -575,6 +572,8 @@ void Rosbag2Dataset::doReadAhead(

for (size_t idx = startIdx; idx <= endIdx; idx++)
{
unload_queue_.push_back(idx); // mark as recently accessed

if (read_ahead_.at(idx).has_value()) continue; // already read:

// serialized data
Expand All @@ -598,6 +597,9 @@ void Rosbag2Dataset::doReadAhead(
}
}

// and also, unload() very old observations.
autoUnloadOldEntries();

MRPT_END
}

Expand Down Expand Up @@ -984,3 +986,18 @@ Rosbag2Dataset::Obs Rosbag2Dataset::catchExceptions(
return {};
}
}

void Rosbag2Dataset::autoUnloadOldEntries() const
{
const size_t MAX_UNLOAD_LEN = std::max<size_t>(10, 2 * read_ahead_length_);

// unload() very old observations.
while (unload_queue_.size() > MAX_UNLOAD_LEN)
{
const auto idx = unload_queue_.front();
unload_queue_.erase(unload_queue_.begin());

// Free memory in read-ahead buffer:
read_ahead_.at(idx).reset();
}
}