Completely static memory allocation strategy for messages. More...

#include <message_pool_memory_strategy.hpp>

Inheritance diagram for rclcpp::strategies::message_pool_memory_strategy::MessagePoolMemoryStrategy< MessageT, Size, >:

Collaboration diagram for rclcpp::strategies::message_pool_memory_strategy::MessagePoolMemoryStrategy< MessageT, Size, >:

[legend]

Classes
struct	PoolMember

Public Member Functions
	MessagePoolMemoryStrategy ()
	Default constructor. More...

std::shared_ptr< MessageT >	borrow_message ()
	Borrow a message from the message pool. More...

void	return_message (std::shared_ptr< MessageT > &msg)
	Return a message to the message pool. More...

Public Member Functions inherited from rclcpp::message_memory_strategy::MessageMemoryStrategy< MessageT >
	MessageMemoryStrategy ()

	MessageMemoryStrategy (std::shared_ptr< std::allocator< void > > allocator)

virtual	~MessageMemoryStrategy ()=default

virtual std::shared_ptr< rcl_serialized_message_t >	borrow_serialized_message (size_t capacity)

virtual std::shared_ptr< rcl_serialized_message_t >	borrow_serialized_message ()

virtual void	set_default_buffer_capacity (size_t capacity)

virtual void	return_serialized_message (std::shared_ptr< rcl_serialized_message_t > &serialized_msg)

Protected Attributes
std::array< PoolMember, Size >	pool_

size_t	next_array_index_

Additional Inherited Members
Public Types inherited from rclcpp::message_memory_strategy::MessageMemoryStrategy< MessageT >
using	MessageAllocTraits = allocator::AllocRebind< MessageT, std::allocator< void > >

using	MessageAlloc = typename MessageAllocTraits::allocator_type

using	MessageDeleter = allocator::Deleter< MessageAlloc, MessageT >

using	SerializedMessageAllocTraits = allocator::AllocRebind< rcl_serialized_message_t, std::allocator< void > >

using	SerializedMessageAlloc = typename SerializedMessageAllocTraits::allocator_type

using	SerializedMessageDeleter = allocator::Deleter< SerializedMessageAlloc, rcl_serialized_message_t >

using	BufferAllocTraits = allocator::AllocRebind< char, std::allocator< void > >

using	BufferAlloc = typename BufferAllocTraits::allocator_type

using	BufferDeleter = allocator::Deleter< BufferAlloc, char >

Static Public Member Functions inherited from rclcpp::message_memory_strategy::MessageMemoryStrategy< MessageT >
static SharedPtr	create_default ()
	Default factory method. More...

Public Attributes inherited from rclcpp::message_memory_strategy::MessageMemoryStrategy< MessageT >
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_

rcutils_allocator_t	rcutils_allocator_

Detailed Description

template<typename MessageT, size_t Size, typename std::enable_if< rosidl_generator_traits::has_fixed_size< MessageT >::value >::type * = nullptr>
class rclcpp::strategies::message_pool_memory_strategy::MessagePoolMemoryStrategy< MessageT, Size, >

Completely static memory allocation strategy for messages.

Templated on the type of message pooled by this class and the size of the message pool. Templating allows the program to determine the memory required for this object at compile time. The size of the message pool should be at least the largest number of concurrent accesses to the subscription (usually the number of threads).

Constructor & Destructor Documentation

◆ MessagePoolMemoryStrategy()

template<typename MessageT , size_t Size, typename std::enable_if< rosidl_generator_traits::has_fixed_size< MessageT >::value >::type * = nullptr>

rclcpp::strategies::message_pool_memory_strategy::MessagePoolMemoryStrategy< MessageT, Size, >::MessagePoolMemoryStrategy ( )

inline

Default constructor.

Member Function Documentation

◆ borrow_message()

template<typename MessageT , size_t Size, typename std::enable_if< rosidl_generator_traits::has_fixed_size< MessageT >::value >::type * = nullptr>

std::shared_ptr<MessageT> rclcpp::strategies::message_pool_memory_strategy::MessagePoolMemoryStrategy< MessageT, Size, >::borrow_message ( )

inlinevirtual

Borrow a message from the message pool.

Manage the message pool ring buffer. Throw an exception if the next message was not available.

Returns: Shared pointer to the borrowed message.

Reimplemented from rclcpp::message_memory_strategy::MessageMemoryStrategy< MessageT >.

◆ return_message()

template<typename MessageT , size_t Size, typename std::enable_if< rosidl_generator_traits::has_fixed_size< MessageT >::value >::type * = nullptr>

void rclcpp::strategies::message_pool_memory_strategy::MessagePoolMemoryStrategy< MessageT, Size, >::return_message ( std::shared_ptr< MessageT > & msg )

inlinevirtual

Return a message to the message pool.

Manage metadata in the message pool ring buffer to release the message.

Parameters

[in] msg Shared pointer to the message to return.

Reimplemented from rclcpp::message_memory_strategy::MessageMemoryStrategy< MessageT >.