rclcpp::strategies::message_pool_memory_strategy::MessagePoolMemoryStrategy< MessageT, Size, > Class Template Reference

Completely static memory allocation strategy for messages. More...

#include <rclcpp/strategies/message_pool_memory_strategy.hpp>

Inheritance diagram for rclcpp::strategies::message_pool_memory_strategy::MessagePoolMemoryStrategy< MessageT, Size, >:

Collaboration diagram for rclcpp::strategies::message_pool_memory_strategy::MessagePoolMemoryStrategy< MessageT, Size, >:

Classes
class	CircularArray

Public Member Functions
std::shared_ptr< MessageT >	borrow_message ()
	Borrow a message from the message pool. More...
void	return_message (std::shared_ptr< MessageT > &msg)
	Return a message to the message pool. More...
Public Member Functions inherited from rclcpp::message_memory_strategy::MessageMemoryStrategy< MessageT, Alloc >
	MessageMemoryStrategy (std::shared_ptr< Alloc > allocator)
virtual std::shared_ptr< rclcpp::SerializedMessage >	borrow_serialized_message (size_t capacity)
virtual std::shared_ptr< rclcpp::SerializedMessage >	borrow_serialized_message ()
virtual void	set_default_buffer_capacity (size_t capacity)
virtual void	return_serialized_message (std::shared_ptr< rclcpp::SerializedMessage > &serialized_msg)

Protected Attributes
std::shared_ptr< std::mutex >	pool_mutex_
std::shared_ptr< std::array< MessageT *, Size > >	pool_
std::shared_ptr< CircularArray< Size > >	free_list_

Additional Inherited Members
Public Types inherited from rclcpp::message_memory_strategy::MessageMemoryStrategy< MessageT, Alloc >
using	MessageAllocTraits = allocator::AllocRebind< MessageT, Alloc >
using	MessageAlloc = typename MessageAllocTraits::allocator_type
using	MessageDeleter = allocator::Deleter< MessageAlloc, MessageT >
using	SerializedMessageAllocTraits = allocator::AllocRebind< rclcpp::SerializedMessage, Alloc >
using	SerializedMessageAlloc = typename SerializedMessageAllocTraits::allocator_type
using	SerializedMessageDeleter = allocator::Deleter< SerializedMessageAlloc, rclcpp::SerializedMessage >
using	BufferAllocTraits = allocator::AllocRebind< char, Alloc >
using	BufferAlloc = typename BufferAllocTraits::allocator_type
using	BufferDeleter = allocator::Deleter< BufferAlloc, char >
Static Public Member Functions inherited from rclcpp::message_memory_strategy::MessageMemoryStrategy< MessageT, Alloc >
static SharedPtr	create_default ()
	Default factory method.
Public Attributes inherited from rclcpp::message_memory_strategy::MessageMemoryStrategy< MessageT, Alloc >
std::shared_ptr< MessageAlloc >	message_allocator_
MessageDeleter	message_deleter_
std::shared_ptr< SerializedMessageAlloc >	serialized_message_allocator_
SerializedMessageDeleter	serialized_message_deleter_
std::shared_ptr< BufferAlloc >	buffer_allocator_
BufferDeleter	buffer_deleter_
size_t	default_buffer_capacity_ = 0
rcutils_allocator_t	rcutils_allocator_

Detailed Description

template<typename MessageT, size_t Size, typename std::enable_if< rosidl_generator_traits::has_fixed_size< MessageT >::value >::type * = nullptr>
class rclcpp::strategies::message_pool_memory_strategy::MessagePoolMemoryStrategy< MessageT, Size, >

Completely static memory allocation strategy for messages.

Templated on the type of message pooled by this class and the size of the message pool. Templating allows the program to determine the memory required for this object at compile time. The size of the message pool should be at least the largest number of concurrent accesses to the subscription (usually the number of threads).

Definition at line 54 of file message_pool_memory_strategy.hpp.

Member Function Documentation

borrow_message()

template<typename MessageT , size_t Size, typename std::enable_if< rosidl_generator_traits::has_fixed_size< MessageT >::value >::type * = nullptr>

std::shared_ptr<MessageT> rclcpp::strategies::message_pool_memory_strategy::MessagePoolMemoryStrategy< MessageT, Size, >::borrow_message ( )

inlinevirtual

Borrow a message from the message pool.

Manage the message pool ring buffer. Throw an exception if the next message was not available.

Returns

Shared pointer to the borrowed message.

Reimplemented from rclcpp::message_memory_strategy::MessageMemoryStrategy< MessageT, Alloc >.

Definition at line 87 of file message_pool_memory_strategy.hpp.

return_message()

template<typename MessageT , size_t Size, typename std::enable_if< rosidl_generator_traits::has_fixed_size< MessageT >::value >::type * = nullptr>

void rclcpp::strategies::message_pool_memory_strategy::MessagePoolMemoryStrategy< MessageT, Size, >::return_message ( std::shared_ptr< MessageT > &  msg )

inlinevirtual

Return a message to the message pool.

This does nothing since the message isn't returned to the pool until the user has dropped all references.

Parameters

[in]

msg

Shared pointer to the message to return.

Reimplemented from rclcpp::message_memory_strategy::MessageMemoryStrategy< MessageT, Alloc >.

Definition at line 117 of file message_pool_memory_strategy.hpp.

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The documentation for this class was generated from the following file:

• rclcpp/include/rclcpp/strategies/message_pool_memory_strategy.hpp