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// Copyright 2023 Proyectos y Sistemas de Mantenimiento SL (eProsima).
//
// 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.
/**
* @file CustomPayloadPool.hpp
*/
#ifndef FASTDDS_EXAMPLES_CPP_CUSTOM_PAYLOAD_POOL__CUSTOMPAYLOADPOOL_HPP
#define FASTDDS_EXAMPLES_CPP_CUSTOM_PAYLOAD_POOL__CUSTOMPAYLOADPOOL_HPP
#include <assert.h>
#include <stdio.h>
#include <string.h>
#include <fastdds/rtps/history/IPayloadPool.hpp>
#include <fastdds/rtps/common/SerializedPayload.hpp>
class CustomPayloadPool : public eprosima::fastdds::rtps::IPayloadPool
{
public:
~CustomPayloadPool() = default;
bool get_payload(
unsigned int size,
eprosima::fastdds::rtps::SerializedPayload_t& payload)
{
// Reserve new memory for the payload buffer
unsigned char* payload_buff = new unsigned char[size];
// Assign the payload buffer to the SerializedPayload and update sizes
payload.data = payload_buff;
payload.length = size;
payload.max_size = size;
// Tell the SerializedPayload who needs to release its payload
payload.payload_owner = this;
return true;
}
bool get_payload(
const eprosima::fastdds::rtps::SerializedPayload_t& data,
eprosima::fastdds::rtps::SerializedPayload_t& payload)
{
// Reserve new memory for the payload buffer
unsigned char* payload_buff = new unsigned char[data.length];
// Copy the data
memcpy(payload_buff, data.data, data.length);
// Tell the SerializedPayload who needs to release its payload
payload.payload_owner = this;
// Assign the payload buffer to the SerializedPayload and update sizes
payload.data = payload_buff;
payload.length = data.length;
payload.max_size = data.length;
return true;
}
bool release_payload(
eprosima::fastdds::rtps::SerializedPayload_t& payload)
{
// Ensure precondition
if (this != payload.payload_owner)
{
std::cerr << "Trying to release a payload buffer allocated by a different PayloadPool." << std::endl;
return false;
}
// Dealloc the buffer of the payload
delete[] payload.data;
// Reset sizes and pointers
payload.data = nullptr;
payload.length = 0;
payload.max_size = 0;
// Reset the owner of the payload
payload.payload_owner = nullptr;
return true;
}
};
#endif // FASTDDS_EXAMPLES_CPP_CUSTOM_PAYLOAD_POOL__CUSTOMPAYLOADPOOL_HPP
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