Optimize codes

Barry-Xu-2018 · Barry-Xu-2018 · commit 09262fb913a2 · 2023-02-23T12:58:54.000+08:00
Signed-off-by: Barry Xu &lt;barry.xu@sony.com&gt;
diff --git a/rclcpp/include/rclcpp/strategies/allocator_memory_strategy.hpp b/rclcpp/include/rclcpp/strategies/allocator_memory_strategy.hpp
@@ -17,6 +17,7 @@
 
 #include <memory>
 #include <vector>
+#include <utility>
 
 #include "rcl/allocator.h"
 
@@ -121,9 +122,10 @@ class AllocatorMemoryStrategy : public memory_strategy::MemoryStrategy
     }
     for (size_t i = 0; i < waitable_handles_.size(); ++i) {
       if (waitable_handles_[i]->is_ready(wait_set)) {
-        waitable_triggered_handles_.emplace_back(waitable_handles_[i]);
+        waitable_triggered_handles_.emplace_back(std::move(waitable_handles_[i]));
       }
     }
+    waitable_handles_.clear();
 
     subscription_handles_.erase(
       std::remove(subscription_handles_.begin(), subscription_handles_.end(), nullptr),
@@ -144,8 +146,6 @@ class AllocatorMemoryStrategy : public memory_strategy::MemoryStrategy
       std::remove(timer_handles_.begin(), timer_handles_.end(), nullptr),
       timer_handles_.end()
     );
-
-    waitable_handles_.clear();
   }
 
   bool collect_entities(const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) override

Original file line number	Diff line number	Diff line change
`@@ -17,6 +17,7 @@`
`17`	`17`
`18`	`18`	`#include <memory>`
`19`	`19`	`#include <vector>`
	`20`	`+#include <utility>`
`20`	`21`
`21`	`22`	`#include "rcl/allocator.h"`
`22`	`23`
`@@ -121,9 +122,10 @@ class AllocatorMemoryStrategy : public memory_strategy::MemoryStrategy`
`121`	`122`	`}`
`122`	`123`	`for (size_t i = 0; i < waitable_handles_.size(); ++i) {`
`123`	`124`	`if (waitable_handles_[i]->is_ready(wait_set)) {`
`124`		`- waitable_triggered_handles_.emplace_back(waitable_handles_[i]);`
	`125`	`+ waitable_triggered_handles_.emplace_back(std::move(waitable_handles_[i]));`
`125`	`126`	`}`
`126`	`127`	`}`
	`128`	`+ waitable_handles_.clear();`
`127`	`129`
`128`	`130`	`subscription_handles_.erase(`
`129`	`131`	`std::remove(subscription_handles_.begin(), subscription_handles_.end(), nullptr),`
`@@ -144,8 +146,6 @@ class AllocatorMemoryStrategy : public memory_strategy::MemoryStrategy`
`144`	`146`	`std::remove(timer_handles_.begin(), timer_handles_.end(), nullptr),`
`145`	`147`	`timer_handles_.end()`
`146`	`148`	`);`
`147`		`-`
`148`		`- waitable_handles_.clear();`
`149`	`149`	`}`
`150`	`150`
`151`	`151`	`bool collect_entities(const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) override`