Skip to content

Deprecate AllocatorMemoryStrategy, MemoryStrategy and remove related test cases #3082

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
Scott-Duncan wants to merge 3 commits into
base: rolling
Choose a base branch
from
+132 −1,587
Open

Deprecate AllocatorMemoryStrategy, MemoryStrategy and remove related test cases #3082

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
9b93179
Deprecate AllocatorMemoryStrategy
Scott-Duncan Feb 23, 2026
1aebfab
Deprecate MemoryStrategy
Scott-Duncan Feb 23, 2026
faf005f
Remove test cases for deprecated memory strategies
Scott-Duncan Feb 23, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
1 change: 1 addition & 0 deletions rclcpp/include/rclcpp/executor_options.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -43,6 +43,7 @@ struct ExecutorOptions
RCLCPP_PUBLIC
ExecutorOptions & operator=(const ExecutorOptions &);

[[deprecated("MemoryStrategy is deprecated.")]]
rclcpp::memory_strategy::MemoryStrategy::SharedPtr memory_strategy;
rclcpp::Context::SharedPtr context;
size_t max_conditions;
Expand Down
102 changes: 61 additions & 41 deletions rclcpp/include/rclcpp/memory_strategy.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -21,7 +21,6 @@

#include "rcl/allocator.h"
#include "rcl/wait.h"

#include "rclcpp/any_executable.hpp"
#include "rclcpp/macros.hpp"
#include "rclcpp/node_interfaces/node_base_interface.hpp"
Expand All @@ -39,112 +38,133 @@ namespace memory_strategy
* the rmw implementation after the executor waits for work, based on the number of entities that
* come through.
*/
class RCLCPP_PUBLIC MemoryStrategy

class RCLCPP_PUBLIC [[deprecated("Changes to the executor leave this Class deprecated.")]]
MemoryStrategy
{
public:
#if !defined(_WIN32)
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
#else // !defined(_WIN32)
#pragma warning(push)
#pragma warning(disable : 4996)
#endif
RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(MemoryStrategy)
using WeakCallbackGroupsToNodesMap = std::map<rclcpp::CallbackGroup::WeakPtr,
rclcpp::node_interfaces::NodeBaseInterface::WeakPtr,
std::owner_less<rclcpp::CallbackGroup::WeakPtr>>;
using WeakCallbackGroupsToNodesMap = std::map<
rclcpp::CallbackGroup::WeakPtr, rclcpp::node_interfaces::NodeBaseInterface::WeakPtr,
std::owner_less<rclcpp::CallbackGroup::WeakPtr>>;

virtual ~MemoryStrategy() = default;

[[deprecated("MemoryStrategy is deprecated.")]]
virtual bool collect_entities(const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) = 0;

[[deprecated("MemoryStrategy is deprecated.")]]
virtual size_t number_of_ready_subscriptions() const = 0;
[[deprecated("MemoryStrategy is deprecated.")]]
virtual size_t number_of_ready_services() const = 0;
[[deprecated("MemoryStrategy is deprecated.")]]
virtual size_t number_of_ready_clients() const = 0;
[[deprecated("MemoryStrategy is deprecated.")]]
virtual size_t number_of_ready_events() const = 0;
[[deprecated("MemoryStrategy is deprecated.")]]
virtual size_t number_of_ready_timers() const = 0;
[[deprecated("MemoryStrategy is deprecated.")]]
virtual size_t number_of_guard_conditions() const = 0;
[[deprecated("MemoryStrategy is deprecated.")]]
virtual size_t number_of_waitables() const = 0;

[[deprecated("MemoryStrategy is deprecated.")]]
virtual void add_waitable_handle(const rclcpp::Waitable::SharedPtr & waitable) = 0;
[[deprecated("MemoryStrategy is deprecated.")]]
virtual bool add_handles_to_wait_set(rcl_wait_set_t * wait_set) = 0;
[[deprecated("MemoryStrategy is deprecated.")]]
virtual void clear_handles() = 0;
[[deprecated("MemoryStrategy is deprecated.")]]
virtual void remove_null_handles(rcl_wait_set_t * wait_set) = 0;

virtual void
add_guard_condition(const rclcpp::GuardCondition & guard_condition) = 0;
[[deprecated("MemoryStrategy is deprecated.")]]
virtual void add_guard_condition(const rclcpp::GuardCondition & guard_condition) = 0;

virtual void
remove_guard_condition(const rclcpp::GuardCondition * guard_condition) = 0;
[[deprecated("MemoryStrategy is deprecated.")]]
virtual void remove_guard_condition(const rclcpp::GuardCondition * guard_condition) = 0;

virtual void
get_next_subscription(
[[deprecated("MemoryStrategy is deprecated.")]]
virtual void get_next_subscription(
rclcpp::AnyExecutable & any_exec,
const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) = 0;

virtual void
get_next_service(
[[deprecated("MemoryStrategy is deprecated.")]]
virtual void get_next_service(
rclcpp::AnyExecutable & any_exec,
const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) = 0;

virtual void
get_next_client(
[[deprecated("MemoryStrategy is deprecated.")]]
virtual void get_next_client(
rclcpp::AnyExecutable & any_exec,
const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) = 0;

virtual void
get_next_timer(
[[deprecated("MemoryStrategy is deprecated.")]]
virtual void get_next_timer(
rclcpp::AnyExecutable & any_exec,
const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) = 0;

virtual void
get_next_waitable(
[[deprecated("MemoryStrategy is deprecated.")]]
virtual void get_next_waitable(
rclcpp::AnyExecutable & any_exec,
const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) = 0;

virtual rcl_allocator_t
get_allocator() = 0;
[[deprecated("MemoryStrategy is deprecated.")]]
virtual rcl_allocator_t get_allocator() = 0;

static rclcpp::SubscriptionBase::SharedPtr
get_subscription_by_handle(
[[deprecated("MemoryStrategy is deprecated.")]]
static rclcpp::SubscriptionBase::SharedPtr get_subscription_by_handle(
const std::shared_ptr<const rcl_subscription_t> & subscriber_handle,
const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);

static rclcpp::ServiceBase::SharedPtr
get_service_by_handle(
[[deprecated("MemoryStrategy is deprecated.")]]
static rclcpp::ServiceBase::SharedPtr get_service_by_handle(
const std::shared_ptr<const rcl_service_t> & service_handle,
const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);

static rclcpp::ClientBase::SharedPtr
get_client_by_handle(
[[deprecated("MemoryStrategy is deprecated.")]]
static rclcpp::ClientBase::SharedPtr get_client_by_handle(
const std::shared_ptr<const rcl_client_t> & client_handle,
const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);

static rclcpp::TimerBase::SharedPtr
get_timer_by_handle(
[[deprecated("MemoryStrategy is deprecated.")]]
static rclcpp::TimerBase::SharedPtr get_timer_by_handle(
const std::shared_ptr<const rcl_timer_t> & timer_handle,
const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);

static rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
get_node_by_group(
[[deprecated("MemoryStrategy is deprecated.")]]
static rclcpp::node_interfaces::NodeBaseInterface::SharedPtr get_node_by_group(
const rclcpp::CallbackGroup::SharedPtr & group,
const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);

static rclcpp::CallbackGroup::SharedPtr
get_group_by_subscription(
[[deprecated("MemoryStrategy is deprecated.")]]
static rclcpp::CallbackGroup::SharedPtr get_group_by_subscription(
const rclcpp::SubscriptionBase::SharedPtr & subscription,
const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);

static rclcpp::CallbackGroup::SharedPtr
get_group_by_service(
[[deprecated("MemoryStrategy is deprecated.")]]
static rclcpp::CallbackGroup::SharedPtr get_group_by_service(
const rclcpp::ServiceBase::SharedPtr & service,
const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);

static rclcpp::CallbackGroup::SharedPtr
get_group_by_client(
[[deprecated("MemoryStrategy is deprecated.")]]
static rclcpp::CallbackGroup::SharedPtr get_group_by_client(
const rclcpp::ClientBase::SharedPtr & client,
const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);

static rclcpp::CallbackGroup::SharedPtr
get_group_by_timer(
[[deprecated("MemoryStrategy is deprecated.")]]
static rclcpp::CallbackGroup::SharedPtr get_group_by_timer(
const rclcpp::TimerBase::SharedPtr & timer,
const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);

static rclcpp::CallbackGroup::SharedPtr
get_group_by_waitable(
[[deprecated("MemoryStrategy is deprecated.")]]
static rclcpp::CallbackGroup::SharedPtr get_group_by_waitable(
const rclcpp::Waitable::SharedPtr & waitable,
const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
};
Expand Down
Loading