message_memory_strategy.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__MESSAGE_MEMORY_STRATEGY_HPP_
#define RCLCPP__MESSAGE_MEMORY_STRATEGY_HPP_
 
#include <memory>
#include <stdexcept>
 
#include "rcl/allocator.h"
#include "rcl/types.h"
 
#include "rclcpp/allocator/allocator_common.hpp"
#include "rclcpp/exceptions.hpp"
#include "rclcpp/macros.hpp"
#include "rclcpp/serialized_message.hpp"
#include "rclcpp/visibility_control.hpp"
 
#include "rcutils/logging_macros.h"
 
#include "rmw/serialized_message.h"
 
namespace rclcpp
{
namespace message_memory_strategy
{
 
 
template<typename MessageT, typename Alloc = std::allocator<void>>
class MessageMemoryStrategy
{
public:
  RCLCPP_SMART_PTR_DEFINITIONS(MessageMemoryStrategy)
 
  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>;
 
  MessageMemoryStrategy()
  {
    message_allocator_ = std::make_shared<MessageAlloc>();
    serialized_message_allocator_ = std::make_shared<SerializedMessageAlloc>();
    buffer_allocator_ = std::make_shared<BufferAlloc>();
    if constexpr (std::is_same_v<Alloc, std::allocator<void>>) {
      rcutils_allocator_ = rcl_get_default_allocator();
    } else {
      if constexpr (rclcpp::allocator::has_get_rcl_allocator_v<Alloc>) {
        rcutils_allocator_ = message_allocator_->get_rcl_allocator();
      } else {
        rcutils_allocator_ = allocator::get_rcl_allocator<char,
            BufferAlloc>(*buffer_allocator_.get());
      }
    }
  }
 
  explicit MessageMemoryStrategy(std::shared_ptr<Alloc> allocator)
  {
    message_allocator_ = std::make_shared<MessageAlloc>(*allocator.get());
    serialized_message_allocator_ = std::make_shared<SerializedMessageAlloc>(*allocator.get());
    buffer_allocator_ = std::make_shared<BufferAlloc>(*allocator.get());
    if constexpr (std::is_same_v<Alloc, std::allocator<void>>) {
      rcutils_allocator_ = rcl_get_default_allocator();
    } else {
      if constexpr (rclcpp::allocator::has_get_rcl_allocator_v<Alloc>) {
        rcutils_allocator_ = allocator->get_rcl_allocator();
      } else {
        rcutils_allocator_ = allocator::get_rcl_allocator<char,
            BufferAlloc>(*buffer_allocator_.get());
      }
    }
  }
 
  virtual ~MessageMemoryStrategy() = default;
 
  static SharedPtr create_default()
  {
    return std::make_shared<MessageMemoryStrategy<MessageT, Alloc>>(std::make_shared<Alloc>());
  }
 
 
  virtual std::shared_ptr<MessageT> borrow_message()
  {
    return std::allocate_shared<MessageT, MessageAlloc>(*message_allocator_.get());
  }
 
  virtual std::shared_ptr<rclcpp::SerializedMessage> borrow_serialized_message(size_t capacity)
  {
    return std::make_shared<rclcpp::SerializedMessage>(capacity);
  }
 
  virtual std::shared_ptr<rclcpp::SerializedMessage> borrow_serialized_message()
  {
    return borrow_serialized_message(default_buffer_capacity_);
  }
 
  virtual void set_default_buffer_capacity(size_t capacity)
  {
    default_buffer_capacity_ = capacity;
  }
 
 
  virtual void return_message(std::shared_ptr<MessageT> & msg)
  {
    msg.reset();
  }
 
  virtual void return_serialized_message(
    std::shared_ptr<rclcpp::SerializedMessage> & serialized_msg)
  {
    serialized_msg.reset();
  }
 
  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_;
};
 
}  // namespace message_memory_strategy
}  // namespace rclcpp
 
#endif  // RCLCPP__MESSAGE_MEMORY_STRATEGY_HPP_