message_memory_strategy.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__MESSAGE_MEMORY_STRATEGY_HPP_
#define RCLCPP__MESSAGE_MEMORY_STRATEGY_HPP_

#include <memory>
#include <stdexcept>

#include "rclcpp/allocator/allocator_common.hpp"
#include "rclcpp/macros.hpp"
#include "rclcpp/visibility_control.hpp"

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>;

  MessageMemoryStrategy()
  {
    message_allocator_ = std::make_shared<MessageAlloc>();
  }

  explicit MessageMemoryStrategy(std::shared_ptr<Alloc> allocator)
  {
    message_allocator_ = std::make_shared<MessageAlloc>(*allocator.get());
  }

  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 void return_message(std::shared_ptr<MessageT> & msg)
  {
    msg.reset();
  }

  std::shared_ptr<MessageAlloc> message_allocator_;
  MessageDeleter message_deleter_;
};

}  // namespace message_memory_strategy
}  // namespace rclcpp

#endif  // RCLCPP__MESSAGE_MEMORY_STRATEGY_HPP_