.. _program_listing_file_include_rclcpp_allocator_allocator_common.hpp:

Program Listing for File allocator_common.hpp
=============================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_rclcpp_allocator_allocator_common.hpp>` (``include/rclcpp/allocator/allocator_common.hpp``)

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

.. code-block:: cpp

   // 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, typename Alloc>
   using AllocRebind = typename std::allocator_traits<Alloc>::template rebind_traits<T>;
   
   template<typename Alloc>
   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>
   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>
   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>
   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>
   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_