.. _program_listing_file_include_rclcpp_message_memory_strategy.hpp:

Program Listing for File message_memory_strategy.hpp
====================================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_rclcpp_message_memory_strategy.hpp>` (``include/rclcpp/message_memory_strategy.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__MESSAGE_MEMORY_STRATEGY_HPP_
   #define RCLCPP__MESSAGE_MEMORY_STRATEGY_HPP_
   
   #include <memory>
   #include <stdexcept>
   
   #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>();
       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());
       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_