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Merge pull request #187 from ros2/set_allocations

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Avoid reinitializing allocator
This commit is contained in:
Jackie Kay 2015-12-17 16:10:43 -08:00
commit 1fe47b717f
1 changed files with 9 additions and 2 deletions
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11
rclcpp/include/rclcpp/intra_process_manager_impl.hpp
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@ -142,7 +142,7 @@ public:
std::lock_guard<std::mutex> lock(runtime_mutex_);
auto it = publishers_.find(intra_process_publisher_id);
if (it == publishers_.end()) {
throw std::runtime_error("store_intra_process_message called with invalid publisher id");
throw std::runtime_error("get_publisher_info_for_id called with invalid publisher id");
}
PublisherInfo & info = it->second;
// Calculate the next message sequence number.
@ -168,7 +168,12 @@ public:
// Figure out what subscriptions should receive the message.
auto & destined_subscriptions = subscription_ids_by_topic_[publisher->get_topic_name()];
// Store the list for later comparison.
info.target_subscriptions_by_message_sequence[message_seq].clear();
if (info.target_subscriptions_by_message_sequence.count(message_seq) == 0) {
info.target_subscriptions_by_message_sequence.emplace(
message_seq, AllocSet(std::less<uint64_t>(), uint64_allocator));
} else {
info.target_subscriptions_by_message_sequence[message_seq].clear();
}
std::copy(
destined_subscriptions.begin(), destined_subscriptions.end(),
// Memory allocation occurs in info.target_subscriptions_by_message_sequence[message_seq]
@ -242,6 +247,8 @@ private:
template<typename T>
using RebindAlloc = typename std::allocator_traits<Allocator>::template rebind_alloc<T>;
RebindAlloc<uint64_t> uint64_allocator;
using AllocSet = std::set<uint64_t, std::less<uint64_t>, RebindAlloc<uint64_t>>;
using SubscriptionMap = std::unordered_map<uint64_t, subscription::SubscriptionBase::WeakPtr,
std::hash<uint64_t>, std::equal_to<uint64_t>,