[Personalrobots-commit] SF.net SVN: personalrobots: [243] pkg/trunk/libTF

[<tf...@us...>]

Revision: 243
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=243&view=rev
Author:   tfoote
Date:     2008-04-29 18:17:58 -0700 (Tue, 29 Apr 2008)

Log Message:
-----------
adding a max length to the linked list to prevent unbounded memory usage

Modified Paths:
--------------
    pkg/trunk/libTF/include/libTF/Quaternion3D.h
    pkg/trunk/libTF/src/simple/Quaternion3D.cpp

Modified: pkg/trunk/libTF/include/libTF/Quaternion3D.h
===================================================================
--- pkg/trunk/libTF/include/libTF/Quaternion3D.h	2008-04-30 00:56:19 UTC (rev 242)
+++ pkg/trunk/libTF/include/libTF/Quaternion3D.h	2008-04-30 01:17:58 UTC (rev 243)
@@ -53,6 +53,7 @@
 
 public:
   static const int MIN_INTERPOLATION_DISTANCE = 5; //Number of nano-seconds to not interpolate below.
+  static const unsigned int MAX_LENGTH_LINKED_LIST = 1000000; // Maximum length of linked list, to make sure not to be able to use unlimited memory.
   // Storage class
   class Quaternion3DStorage
   {
@@ -155,8 +156,8 @@
   data_LL* first;
   data_LL* last;
 
+  unsigned int list_length;
 
-
 };
 
 

Modified: pkg/trunk/libTF/src/simple/Quaternion3D.cpp
===================================================================
--- pkg/trunk/libTF/src/simple/Quaternion3D.cpp	2008-04-30 00:56:19 UTC (rev 242)
+++ pkg/trunk/libTF/src/simple/Quaternion3D.cpp	2008-04-30 01:17:58 UTC (rev 243)
@@ -42,7 +42,8 @@
 Quaternion3D::Quaternion3D(unsigned long long max_cache_time):
   max_storage_time(max_cache_time),
   first(NULL),
-  last(NULL)
+  last(NULL),
+  list_length(0)
 {
   
   pthread_mutex_init( &linked_list_mutex, NULL);
@@ -355,7 +356,6 @@
 
 void Quaternion3D::insertNode(const Quaternion3DStorage & new_val)
 {
-
   data_LL* p_current;
   data_LL* p_old;
 
@@ -417,6 +417,10 @@
 
 
     }
+
+  // Record that we have increased the length of th elist
+  list_length ++;
+  
 };
 
 void Quaternion3D::pruneList()
@@ -432,7 +436,7 @@
 
 
   //While time stamps too old
-  while (p_current->data.time + max_storage_time < current_time)
+  while (p_current->data.time + max_storage_time < current_time || list_length > MAX_LENGTH_LINKED_LIST)
     {
       //      cout << "Age of node " << (double)(-p_current->data.time + current_time)/1000000.0 << endl;
      // Make sure that there's at least two elements in the list
@@ -446,6 +450,7 @@
 	      delete p_current;
 	      p_current = last;
 	      //	      cout << " Pruning Node" << endl;
+	      list_length--;
 	    }
 	  else 
 	    break;


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