.. _program_listing_file_include_rclcpp_experimental_create_intra_process_buffer.hpp:

Program Listing for File create_intra_process_buffer.hpp
========================================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_rclcpp_experimental_create_intra_process_buffer.hpp>` (``include/rclcpp/experimental/create_intra_process_buffer.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2019 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__EXPERIMENTAL__CREATE_INTRA_PROCESS_BUFFER_HPP_
   #define RCLCPP__EXPERIMENTAL__CREATE_INTRA_PROCESS_BUFFER_HPP_
   
   #include <memory>
   #include <stdexcept>
   #include <utility>
   
   #include "rclcpp/experimental/buffers/intra_process_buffer.hpp"
   #include "rclcpp/experimental/buffers/ring_buffer_implementation.hpp"
   #include "rclcpp/intra_process_buffer_type.hpp"
   #include "rclcpp/qos.hpp"
   
   namespace rclcpp
   {
   namespace experimental
   {
   
   template<
     typename MessageT,
     typename Alloc = std::allocator<void>,
     typename Deleter = std::default_delete<MessageT>>
   typename rclcpp::experimental::buffers::IntraProcessBuffer<MessageT, Alloc, Deleter>::UniquePtr
   create_intra_process_buffer(
     IntraProcessBufferType buffer_type,
     const rclcpp::QoS & qos,
     std::shared_ptr<Alloc> allocator)
   {
     using MessageSharedPtr = std::shared_ptr<const MessageT>;
     using MessageUniquePtr = std::unique_ptr<MessageT, Deleter>;
   
     size_t buffer_size = qos.depth();
   
     using rclcpp::experimental::buffers::IntraProcessBuffer;
     typename IntraProcessBuffer<MessageT, Alloc, Deleter>::UniquePtr buffer;
   
     switch (buffer_type) {
       case IntraProcessBufferType::SharedPtr:
         {
           using BufferT = MessageSharedPtr;
   
           auto buffer_implementation =
             std::make_unique<rclcpp::experimental::buffers::RingBufferImplementation<BufferT>>(
             buffer_size);
   
           // Construct the intra_process_buffer
           buffer =
             std::make_unique<rclcpp::experimental::buffers::TypedIntraProcessBuffer<MessageT, Alloc,
               Deleter, BufferT>>(
             std::move(buffer_implementation),
             allocator);
   
           break;
         }
       case IntraProcessBufferType::UniquePtr:
         {
           using BufferT = MessageUniquePtr;
   
           auto buffer_implementation =
             std::make_unique<rclcpp::experimental::buffers::RingBufferImplementation<BufferT>>(
             buffer_size);
   
           // Construct the intra_process_buffer
           buffer =
             std::make_unique<rclcpp::experimental::buffers::TypedIntraProcessBuffer<MessageT, Alloc,
               Deleter, BufferT>>(
             std::move(buffer_implementation),
             allocator);
   
           break;
         }
       default:
         {
           throw std::runtime_error("Unrecognized IntraProcessBufferType value");
           break;
         }
     }
   
     return buffer;
   }
   
   }  // namespace experimental
   }  // namespace rclcpp
   
   #endif  // RCLCPP__EXPERIMENTAL__CREATE_INTRA_PROCESS_BUFFER_HPP_