allocator_common.hpp

// Copyright 2015 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef RCLCPP__ALLOCATOR__ALLOCATOR_COMMON_HPP_
#define RCLCPP__ALLOCATOR__ALLOCATOR_COMMON_HPP_
 
#include <cstring>
#include <memory>
 
#include "rcl/allocator.h"
 
#include "rclcpp/allocator/allocator_deleter.hpp"
 
namespace rclcpp
{
namespace allocator
{
 
template<typename T>
using clean_t = std::remove_cv_t<std::remove_reference_t<T>>;
 
// Primary template: false
template<typename, typename = std::void_t<>>
struct has_get_rcl_allocator : std::false_type {};
 
// Specialization: true if expression is valid
template<typename T>
struct has_get_rcl_allocator<T,
  std::void_t<
    decltype(std::declval<clean_t<T> &>().get_rcl_allocator())
  >
>
  : std::bool_constant<
    std::is_same_v<
      decltype(std::declval<clean_t<T> &>().get_rcl_allocator()),
      rcl_allocator_t
    >
  >
{};
 
// Helper variable template
template<typename T>
inline constexpr bool has_get_rcl_allocator_v =
  has_get_rcl_allocator<T>::value;
 
template<typename T, typename Alloc>
using AllocRebind = typename std::allocator_traits<Alloc>::template rebind_traits<T>;
 
template<typename Alloc>
[[deprecated("Conversion of C++ allocators to C style is not valid, as the size on deallocate"
  "can not be determined. This will be remove in future versions of ros.")]]
void * retyped_allocate(size_t size, void * untyped_allocator)
{
  auto typed_allocator = static_cast<Alloc *>(untyped_allocator);
  if (!typed_allocator) {
    throw std::runtime_error("Received incorrect allocator type");
  }
  return std::allocator_traits<Alloc>::allocate(*typed_allocator, size);
}
 
template<typename Alloc>
[[deprecated("Conversion of C++ allocators to C style is not valid, as the size on deallocate"
  "can not be determined. This will be remove in future versions of ros.")]]
void * retyped_zero_allocate(size_t number_of_elem, size_t size_of_elem, void * untyped_allocator)
{
  auto typed_allocator = static_cast<Alloc *>(untyped_allocator);
  if (!typed_allocator) {
    throw std::runtime_error("Received incorrect allocator type");
  }
  size_t size = number_of_elem * size_of_elem;
  void * allocated_memory =
    std::allocator_traits<Alloc>::allocate(*typed_allocator, size);
  if (allocated_memory) {
    std::memset(allocated_memory, 0, size);
  }
  return allocated_memory;
}
 
template<typename T, typename Alloc>
[[deprecated("Conversion of C++ allocators to C style is not valid, as the size on deallocate"
  "can not be determined. This will be remove in future versions of ros.")]]
void retyped_deallocate(void * untyped_pointer, void * untyped_allocator)
{
  auto typed_allocator = static_cast<Alloc *>(untyped_allocator);
  if (!typed_allocator) {
    throw std::runtime_error("Received incorrect allocator type");
  }
  auto typed_ptr = static_cast<T *>(untyped_pointer);
  std::allocator_traits<Alloc>::deallocate(*typed_allocator, typed_ptr, 1);
}
 
template<typename T, typename Alloc>
[[deprecated("Conversion of C++ allocators to C style is not valid, as the size on deallocate"
  "can not be determined. This will be remove in future versions of ros.")]]
void * retyped_reallocate(void * untyped_pointer, size_t size, void * untyped_allocator)
{
  auto typed_allocator = static_cast<Alloc *>(untyped_allocator);
  if (!typed_allocator) {
    throw std::runtime_error("Received incorrect allocator type");
  }
  auto typed_ptr = static_cast<T *>(untyped_pointer);
  std::allocator_traits<Alloc>::deallocate(*typed_allocator, typed_ptr, 1);
  return std::allocator_traits<Alloc>::allocate(*typed_allocator, size);
}
 
 
// Convert a std::allocator_traits-formatted Allocator into an rcl allocator
template<
  typename T,
  typename Alloc,
  typename std::enable_if<!std::is_same<Alloc, std::allocator<void>>::value>::type * = nullptr>
[[deprecated("Conversion of C++ allocators to C style is not valid, as the size on deallocate"
  "can not be determined. This will be remove in future versions of ros. To suppress this warning"
  "define the method 'rcl_allocator_t get_rcl_allocator()' on your allocator")]]
rcl_allocator_t get_rcl_allocator(Alloc & allocator)
{
  rcl_allocator_t rcl_allocator = rcl_get_default_allocator();
#ifndef _WIN32
  rcl_allocator.allocate = &retyped_allocate<Alloc>;
  rcl_allocator.zero_allocate = &retyped_zero_allocate<Alloc>;
  rcl_allocator.deallocate = &retyped_deallocate<T, Alloc>;
  rcl_allocator.reallocate = &retyped_reallocate<T, Alloc>;
  rcl_allocator.state = &allocator;
#else
  (void)allocator;  // Remove warning
#endif
  return rcl_allocator;
}
 
// TODO(jacquelinekay) Workaround for an incomplete implementation of std::allocator<void>
template<
  typename T,
  typename Alloc,
  typename std::enable_if<std::is_same<Alloc, std::allocator<void>>::value>::type * = nullptr>
rcl_allocator_t get_rcl_allocator(Alloc & allocator)
{
  (void)allocator;
  return rcl_get_default_allocator();
}
 
}  // namespace allocator
}  // namespace rclcpp
 
#endif  // RCLCPP__ALLOCATOR__ALLOCATOR_COMMON_HPP_