Program Listing for File allocator_common.hpp
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// 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_