uavcan: static allocation

Author: dakejahl

src/drivers/uavcan/allocator.hpp

@@ -50,19 +50,18 @@ struct AllocatorSynchronizer {
 	~AllocatorSynchronizer() { ::leave_critical_section(state); }
 };
 
-struct Allocator : public uavcan::HeapBasedPoolAllocator<uavcan::MemPoolBlockSize, AllocatorSynchronizer> {
-	static constexpr unsigned CapacitySoftLimit = 250;
-	static constexpr unsigned CapacityHardLimit = 500;
+struct Allocator : public uavcan::PoolAllocator<250 * uavcan::MemPoolBlockSize, uavcan::MemPoolBlockSize, AllocatorSynchronizer> {
+	static constexpr unsigned NumBlocks = 250;
 
 	Allocator() :
-		uavcan::HeapBasedPoolAllocator<uavcan::MemPoolBlockSize, AllocatorSynchronizer>(CapacitySoftLimit, CapacityHardLimit)
+		uavcan::PoolAllocator<250 * uavcan::MemPoolBlockSize, uavcan::MemPoolBlockSize, AllocatorSynchronizer>()
 	{ }
 
 	~Allocator()
 	{
-		if (getNumAllocatedBlocks() > 0) {
+		if (getNumUsedBlocks() > 0) {
 			PX4_ERR("UAVCAN LEAKS MEMORY: %u BLOCKS (%u BYTES) LOST",
-				getNumAllocatedBlocks(), getNumAllocatedBlocks() * uavcan::MemPoolBlockSize);
+				getNumUsedBlocks(), getNumUsedBlocks() * uavcan::MemPoolBlockSize);
 		}
 	}
 };

src/drivers/uavcan/uavcan_main.cpp

@@ -1132,11 +1132,7 @@ UavcanNode::print_info()
 {
 	// Memory status
 	printf("Pool allocator status:\n");
-	printf("\tCapacity hard/soft: %" PRIu16 "/%" PRIu16 " blocks\n",
-	       _pool_allocator.getBlockCapacityHardLimit(), _pool_allocator.getBlockCapacity());
-	printf("\tReserved:  %" PRIu16 " blocks\n", _pool_allocator.getNumReservedBlocks());
-	printf("\tAllocated: %" PRIu16 " blocks\n", _pool_allocator.getNumAllocatedBlocks());
-
+	printf("\tCapacity : %" PRIu16 " blocks\n", _pool_allocator.getBlockCapacity());
 	printf("\n");
 
 	// UAVCAN node perfcounters
@@ -1211,14 +1207,6 @@ UavcanNode::print_info()
 	perf_print_counter(_interval_perf);
 }
 
-void
-UavcanNode::shrink()
-{
-	(void)pthread_mutex_lock(&_node_mutex);
-	_pool_allocator.shrink();
-	(void)pthread_mutex_unlock(&_node_mutex);
-}
-
 void
 UavcanNode::cb_getset(const uavcan::ServiceCallResult<uavcan::protocol::param::GetSet> &result)
 {
@@ -1435,7 +1423,7 @@ UavcanNode::get_next_dirty_node_id(uint8_t base)
 static void print_usage()
 {
 	PX4_INFO("usage: \n"
-		 "\tuavcan {start|status|stop|shrink|update}\n"
+		 "\tuavcan {start|status|stop|update}\n"
 		 "\t        param [set|get|list|save] <node-id> <name> <value>|reset <node-id>");
 }
 
@@ -1492,11 +1480,6 @@ extern "C" __EXPORT int uavcan_main(int argc, char *argv[])
 		::exit(0);
 	}
 
-	if (!std::strcmp(argv[1], "shrink")) {
-		inst->shrink();
-		::exit(0);
-	}
-
 	/*
 	 * Parameter setting commands
 	 *

src/drivers/uavcan/uavcan_main.hpp

@@ -215,8 +215,6 @@ class UavcanNode : public px4::ScheduledWorkItem, public ModuleParams
 
 	void		print_info();
 
-	void		shrink();
-
 	static UavcanNode	*instance() { return _instance; }
 	static int		 getHardwareVersion(uavcan::protocol::HardwareVersion &hwver);
 

src/drivers/uavcannode/UavcanNode.cpp

@@ -692,11 +692,7 @@ void UavcanNode::PrintInfo()
 
 	// Memory status
 	printf("Pool allocator status:\n");
-	printf("\tCapacity hard/soft: %u/%u blocks\n",
-	       _pool_allocator.getBlockCapacityHardLimit(), _pool_allocator.getBlockCapacity());
-	printf("\tReserved:  %u blocks\n", _pool_allocator.getNumReservedBlocks());
-	printf("\tAllocated: %u blocks\n", _pool_allocator.getNumAllocatedBlocks());
-
+	printf("\tCapacity: %u blocks\n", _pool_allocator.getBlockCapacity());
 	printf("\n");
 
 	// UAVCAN node perfcounters
@@ -750,13 +746,6 @@ void UavcanNode::PrintInfo()
 	pthread_mutex_unlock(&_node_mutex);
 }
 
-void UavcanNode::shrink()
-{
-	(void)pthread_mutex_lock(&_node_mutex);
-	_pool_allocator.shrink();
-	(void)pthread_mutex_unlock(&_node_mutex);
-}
-
 } // namespace uavcannode
 
 static void print_usage()

src/drivers/uavcannode/UavcanNode.hpp

@@ -131,8 +131,6 @@ class UavcanNode : public px4::ScheduledWorkItem
 
 	void		PrintInfo();
 
-	void		shrink();
-
 	static UavcanNode	*instance() { return _instance; }
 	static int		 getHardwareVersion(uavcan::protocol::HardwareVersion &hwver);
 

src/drivers/uavcannode/allocator.hpp

@@ -50,19 +50,18 @@ struct AllocatorSynchronizer {
 	~AllocatorSynchronizer() { ::leave_critical_section(state); }
 };
 
-struct Allocator : public uavcan::HeapBasedPoolAllocator<uavcan::MemPoolBlockSize, AllocatorSynchronizer> {
-	static constexpr unsigned CapacitySoftLimit = 250;
-	static constexpr unsigned CapacityHardLimit = 500;
+struct Allocator : public uavcan::PoolAllocator<250 * uavcan::MemPoolBlockSize, uavcan::MemPoolBlockSize, AllocatorSynchronizer> {
+	static constexpr unsigned NumBlocks = 250;
 
 	Allocator() :
-		uavcan::HeapBasedPoolAllocator<uavcan::MemPoolBlockSize, AllocatorSynchronizer>(CapacitySoftLimit, CapacityHardLimit)
+		uavcan::PoolAllocator<250 * uavcan::MemPoolBlockSize, uavcan::MemPoolBlockSize, AllocatorSynchronizer>()
 	{ }
 
 	~Allocator()
 	{
-		if (getNumAllocatedBlocks() > 0) {
+		if (getNumUsedBlocks() > 0) {
 			PX4_ERR("UAVCAN LEAKS MEMORY: %u BLOCKS (%u BYTES) LOST",
-				getNumAllocatedBlocks(), getNumAllocatedBlocks() * uavcan::MemPoolBlockSize);
+				getNumUsedBlocks(), getNumUsedBlocks() * uavcan::MemPoolBlockSize);
 		}
 	}
 };