malloc and stl container

Lange Norbert norbert.lange at
Mon Jul 27 10:52:02 CEST 2020

> -----Original Message-----
> From: Xenomai <xenomai-bounces at> On Behalf Of Jan Holtz via
> Xenomai
> Sent: Montag, 20. Juli 2020 07:05
> To: xenomai at
> Subject: malloc and stl container
>    Hello,
>    i am using xenomai 3.0 on a cobalt x64 smp system with the alchemy
>    skin.
>    As far i know dynamic memory allocation can cause a context switch,
>    which should be preventet.
>    If i am right,malloc should not cause a CSW anymore at this xenomai
>    version.

Don't see where you get this from. malloc might not cause a CSW every time,
but it has the potential to do so at *any* time.

>    If malloc don't cause a CSW,  in which case the alchemy heap management
>    services is suggested to use instead for dynamic memory allocation?
>    I like to use stl containers like vector, etc.
>    Is there a way to use this containers wthout adding values to
>    containers seems to cause a CSW.

A generic malloc will always have properties that are unwanted for
realtime. When do you need to resize vectors?
If you have a part of your system not running in RT you can resize your vectors there,
or you pre-allocate them to be big enough so they won't ever call malloc.

>    Can it work/wrapped with heap management services ?

The STL? Sure, you can use your own allocators (google: pool allocator), or something like boost::static_vector.
You still need to make sure you don’t cause allocations when in RT.


>    Hope you can help me to understand.
>    Regards Jan

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