/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2019-, Open Perception, Inc.
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 *
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 *     notice, this list of conditions and the following disclaimer.
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 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
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 *     from this software without specific prior written permission.
 *
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 */

#pragma once

/**
 * \file pcl/memory.h
 *
 * \brief Defines functions, macros and traits for allocating and using memory.
 * \ingroup common
 */

#include <pcl/type_traits.h>  // for has_custom_allocator

#include <Eigen/Core>  // for EIGEN_MAKE_ALIGNED_OPERATOR_NEW

#include <memory>  // for std::allocate_shared, std::dynamic_pointer_cast, std::make_shared, std::shared_ptr, std::static_pointer_cast, std::weak_ptr
#include <type_traits>  // for std::enable_if_t, std::false_type, std::true_type
#include <utility>  // for std::forward

/**
 * \brief Macro to signal a class requires a custom allocator
 *
 *  It's an implementation detail to have pcl::has_custom_allocator work, a
 *  thin wrapper over Eigen's own macro
 *
 * \see pcl::has_custom_allocator, pcl::make_shared
 * \ingroup common
 */
#define PCL_MAKE_ALIGNED_OPERATOR_NEW \
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW \
  using _custom_allocator_type_trait = void;


namespace pcl
{
/**
 * \brief Force ADL for `shared_ptr`
 *
 * For ease of switching from boost::shared_ptr to std::shared_ptr
 *
 * \see pcl::make_shared
 */
using std::shared_ptr;

/**
 * \brief Force ADL for `weak_ptr`
 *
 * For ease of switching from boost::weak_ptr to std::weak_ptr
 */
using std::weak_ptr;

/** ADL doesn't work until C++20 for dynamic_pointer_cast since it requires an explicit Tparam */
using std::dynamic_pointer_cast;

/** ADL doesn't work until C++20 for static_pointer_cast since it requires an explicit Tparam */
using std::static_pointer_cast;

#ifdef DOXYGEN_ONLY

/**
 * \brief Returns a pcl::shared_ptr compliant with type T's allocation policy.
 *
 * std::allocate_shared or std::make_shared will be invoked in case T has or
 * doesn't have a custom allocator, respectively.
 *
 * \note In MSVC < 1915 (before version 15.8) alignment was incorrectly set at
 *   most at alignof(max_align_t). This bug was fixed in said version and is
 *   acknowledged by defining _ENABLE_EXTENDED_ALIGNED_STORAGE. See #3752.
 *
 * \see pcl::has_custom_allocator, PCL_MAKE_ALIGNED_OPERATOR_NEW
 * \tparam T Type of the object to create a pcl::shared_ptr of
 * \tparam Args Types for the arguments to pcl::make_shared
 * \param args List of arguments with which an instance of T will be constructed
 * \return pcl::shared_ptr of an instance of type T
 */
template<typename T, typename ... Args>
shared_ptr<T> make_shared(Args&&... args);

#else

template<typename T, typename ... Args>
std::enable_if_t<has_custom_allocator<T>::value, shared_ptr<T>> make_shared(Args&&... args)
{
  return std::allocate_shared<T>(Eigen::aligned_allocator<T>(), std::forward<Args> (args)...);
}

template<typename T, typename ... Args>
std::enable_if_t<!has_custom_allocator<T>::value, shared_ptr<T>> make_shared(Args&&... args)
{
  return std::make_shared<T>(std::forward<Args> (args)...);
}

#endif
}