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use custom allocator from publisher option. #2478

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use custom allocator from publisher option. #2478

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5fd47c4
use custom allocator from publisher option.
fujitatomoya Apr 3, 2024
a71ec71
std::memcpy only available size of destination buffer.
fujitatomoya Apr 15, 2024
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10 changes: 6 additions & 4 deletions rclcpp/include/rclcpp/publisher.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -320,7 +320,7 @@ class Publisher : public PublisherBase
{
if (!intra_process_is_enabled_) {
// In this case we're not using intra process.
auto ros_msg_ptr = std::make_unique<ROSMessageType>();
auto ros_msg_ptr = create_ros_message_unique_ptr();
rclcpp::TypeAdapter<MessageT>::convert_to_ros_message(*msg, *ros_msg_ptr);
this->do_inter_process_publish(*ros_msg_ptr);
return;
Expand All @@ -330,7 +330,8 @@ class Publisher : public PublisherBase
get_subscription_count() > get_intra_process_subscription_count();

if (inter_process_publish_needed) {
auto ros_msg_ptr = std::make_shared<ROSMessageType>();
auto ros_msg_ptr = std::allocate_shared<
ROSMessageType, ROSMessageTypeAllocator>(ros_message_type_allocator_);
rclcpp::TypeAdapter<MessageT>::convert_to_ros_message(*msg, *ros_msg_ptr);
this->do_intra_process_publish(std::move(msg));
this->do_inter_process_publish(*ros_msg_ptr);
Expand All @@ -339,7 +340,8 @@ class Publisher : public PublisherBase
}
} else {
if (buffer_) {
auto ros_msg_ptr = std::make_shared<ROSMessageType>();
auto ros_msg_ptr = std::allocate_shared<
ROSMessageType, ROSMessageTypeAllocator>(ros_message_type_allocator_);
rclcpp::TypeAdapter<MessageT>::convert_to_ros_message(*msg, *ros_msg_ptr);
buffer_->add_shared(ros_msg_ptr);
}
Expand Down Expand Up @@ -367,7 +369,7 @@ class Publisher : public PublisherBase
{
if (!intra_process_is_enabled_) {
// Convert to the ROS message equivalent and publish it.
auto ros_msg_ptr = std::make_unique<ROSMessageType>();
auto ros_msg_ptr = create_ros_message_unique_ptr();
rclcpp::TypeAdapter<MessageT>::convert_to_ros_message(msg, *ros_msg_ptr);
this->do_inter_process_publish(*ros_msg_ptr);
return;
Expand Down
4 changes: 2 additions & 2 deletions rclcpp/test/rclcpp/test_publisher_with_type_adapter.cpp
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Expand Up @@ -118,8 +118,8 @@ struct TypeAdapter<std::string, rclcpp::msg::LargeMessage>
const custom_type & source,
ros_message_type & destination)
{
destination.size = source.size();
std::memcpy(destination.data.data(), source.data(), source.size());
destination.size = std::min(source.size(), destination.data.max_size());
std::memcpy(destination.data.data(), source.data(), destination.size);
Comment on lines +121 to +122
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By the way, while I agree that the old code was dangerous, I think this isn't great either. In particular, if we don't have room in the destination to copy the source in, then we'll copy something truncated, which also seems wrong. Particularly in this test case, I think we should throw an exception if the destination isn't large enough.

}

static void
Expand Down