Add MemoryAllocator and CAllocator

CHANGELOG.md

@@ -6,6 +6,7 @@
 
   * Added Castable class: [#1634](https://github.com/dartsim/dart/pull/1634)
   * Added spdlog support as underlying logging framework: [#1633](https://github.com/dartsim/dart/pull/1633)
+  * Added MemoryAllocator and CAllocator: [#1636](https://github.com/dartsim/dart/pull/1636)
 
 * Dynamics
 

CMakeLists.txt

@@ -93,7 +93,6 @@ option(DART_ENABLE_SIMD
 option(DART_BUILD_GUI_OSG "Build osgDart library" ON)
 option(DART_BUILD_EXTRAS "Build extra projects" OFF)
 option(DART_CODECOV "Turn on codecov support" OFF)
-option(DART_TREAT_WARNINGS_AS_ERRORS "Treat warnings as errors" OFF)
 option(DART_FAST_DEBUG "Add -O1 option for DEBUG mode build" OFF)
 # GCC and Clang add ANSI-formatted colors when they detect the output medium is a 
 # terminal. However, this doesn't work in some cases such as when the makefile is
@@ -170,6 +169,12 @@ else()
 endif()
 set_property(CACHE DART_ACTIVE_LOG_LEVEL PROPERTY STRINGS TRACE DEBUG INFO WARN ERROR FATAL OFF)
 
+if(BUILD_TYPE_DEBUG)
+  option(DART_TREAT_WARNINGS_AS_ERRORS "Treat warnings as errors" OFF)
+else()
+  option(DART_TREAT_WARNINGS_AS_ERRORS "Treat warnings as errors" ON)
+endif()
+
 #===============================================================================
 # Find dependencies
 #===============================================================================

dart/common/CAllocator.cpp

@@ -0,0 +1,145 @@
+/*
+ * Copyright (c) 2011-2021, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/master/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include "dart/common/CAllocator.hpp"
+
+#include "dart/common/Logging.hpp"
+
+namespace dart::common {
+
+//==============================================================================
+CAllocator::CAllocator() noexcept
+{
+  // Do nothing
+}
+
+//==============================================================================
+CAllocator::~CAllocator()
+{
+#ifndef NDEBUG
+  std::lock_guard<std::mutex> lock(m_mutex);
+  if (!m_map_pointer_to_size.empty())
+  {
+    size_t total_size = 0;
+    for (auto it : m_map_pointer_to_size)
+    {
+      void* pointer = it.first;
+      size_t size = it.second;
+      total_size += size;
+      DART_FATAL("Found memory leak of {} bytes at {}!", size, pointer);
+    }
+    DART_FATAL("Found potential memory leak of total {} bytes!", total_size);
+  }
+#endif
+}
+
+//==============================================================================
+void* CAllocator::allocate(size_t size) noexcept
+{
+  if (size == 0)
+  {
+    return nullptr;
+  }
+
+  DART_TRACE("Allocated {} bytes.", size);
+#ifndef NDEBUG
+  std::lock_guard<std::mutex> lock(m_mutex);
+  auto new_ptr = std::malloc(size);
+  if (new_ptr)
+  {
+    m_size += size;
+    m_peak = std::max(m_peak, m_size);
+    m_map_pointer_to_size[new_ptr] = size;
+  }
+  return new_ptr;
+#else
+  return std::malloc(size);
+#endif
+}
+
+//==============================================================================
+void CAllocator::deallocate(void* pointer, size_t size)
+{
+  (void)size;
+#ifndef NDEBUG
+  std::lock_guard<std::mutex> lock(m_mutex);
+  auto it = m_map_pointer_to_size.find(pointer);
+  if (it != m_map_pointer_to_size.end())
+  {
+    auto allocated_size = it->second;
+    if (size != allocated_size)
+    {
+      DART_FATAL(
+          "Cannot deallocated memory {} because the deallocating size {} is "
+          "different from the allocated size {}.",
+          pointer,
+          size,
+          allocated_size);
+      return;
+    }
+    m_size -= size;
+    m_map_pointer_to_size.erase(it);
+    DART_TRACE("Deallocated {} bytes.", size);
+  }
+  else
+  {
+    DART_FATAL(
+        "Cannot deallocate memory {} that is not allocated by this allocator!",
+        pointer);
+    return;
+  }
+#else
+  DART_TRACE("Deallocated.");
+#endif
+  std::free(pointer);
+}
+
+//==============================================================================
+void CAllocator::print(std::ostream& os, int indent) const
+{
+  if (indent == 0)
+  {
+    os << "[CAllocator]\n";
+  }
+  const std::string spaces(indent, ' ');
+  if (indent != 0)
+  {
+    os << spaces << "type: " << getType() << "\n";
+  }
+#ifndef NDEBUG
+  std::lock_guard<std::mutex> lock(m_mutex);
+  os << spaces << "size_in_bytes: " << m_size << "\n";
+  os << spaces << "peak: " << m_peak << "\n";
+#endif
+}
+
+} // namespace dart::common

dart/common/CAllocator.hpp

@@ -0,0 +1,76 @@
+/*
+ * Copyright (c) 2011-2021, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/master/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_COMMON_CALLOCATOR_HPP_
+#define DART_COMMON_CALLOCATOR_HPP_
+
+#ifndef NDEBUG
+  #include <mutex>
+  #include <unordered_map>
+#endif
+
+#include "dart/common/MemoryAllocator.hpp"
+
+namespace dart::common {
+
+class CAllocator : public MemoryAllocator
+{
+public:
+  /// Constructor
+  CAllocator() noexcept;
+
+  /// Destructor
+  ~CAllocator() override;
+
+  DART_STRING_TYPE(CAllocator);
+
+  // Documentation inherited
+  [[nodiscard]] void* allocate(size_t size) noexcept override;
+
+  // Documentation inherited
+  void deallocate(void* pointer, size_t size) override;
+
+  // Documentation inherited
+  void print(std::ostream& os = std::cout, int indent = 0) const override;
+
+#ifndef NDEBUG
+private:
+  size_t m_size = 0;
+  size_t m_peak = 0;
+  std::unordered_map<void*, size_t> m_map_pointer_to_size;
+  mutable std::mutex m_mutex;
+#endif
+};
+
+} // namespace dart::common
+
+#endif // DART_COMMON_CALLOCATOR_HPP_

dart/common/Castable.hpp

@@ -33,6 +33,22 @@
 #ifndef DART_COMMON_CASTABLE_HPP_
 #define DART_COMMON_CASTABLE_HPP_
 
+#include <string>
+
+#define DART_STRING_TYPE(type_name)                                            \
+  /** Returns type string. */                                                  \
+  [[nodiscard]] static const std::string& getStaticType()                      \
+  {                                                                            \
+    static const std::string type = #type_name;                                \
+    return type;                                                               \
+  }                                                                            \
+                                                                               \
+  [[nodiscard]] const std::string& getType() const override                    \
+  {                                                                            \
+    return getStaticType();                                                    \
+  }                                                                            \
+  void _ANONYMOUS_FUNCTION_1()
+
 namespace dart::common {
 
 /// A CRTP base class that provides an interface for easily casting to the

dart/common/MemoryAllocator.cpp

@@ -0,0 +1,65 @@
+/*
+ * Copyright (c) 2011-2021, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/master/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include "dart/common/MemoryAllocator.hpp"
+
+#include "dart/common/CAllocator.hpp"
+#include "dart/common/Logging.hpp"
+
+namespace dart::common {
+
+//==============================================================================
+MemoryAllocator& MemoryAllocator::GetDefault()
+{
+  static CAllocator default_allocator;
+  return default_allocator;
+}
+
+//==============================================================================
+void MemoryAllocator::print(std::ostream& os, int indent) const
+{
+  if (indent == 0)
+  {
+    os << "[*::print is not implemented]\n";
+  }
+  const std::string spaces(indent, ' ');
+  os << spaces << "*::print is not implemented:\n";
+}
+
+//==============================================================================
+std::ostream& operator<<(std::ostream& os, const MemoryAllocator& allocator)
+{
+  allocator.print(os);
+  return os;
+}
+
+} // namespace dart::common