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uavcan: statically allocate memory pool #25716

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12 changes: 6 additions & 6 deletions src/drivers/uavcan/allocator.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -50,19 +50,19 @@ 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);
}
}
};
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21 changes: 2 additions & 19 deletions src/drivers/uavcan/uavcan_main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down Expand Up @@ -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)
{
Expand Down Expand Up @@ -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>");
}

Expand Down Expand Up @@ -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
*
Expand Down
2 changes: 0 additions & 2 deletions src/drivers/uavcan/uavcan_main.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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);

Expand Down
13 changes: 1 addition & 12 deletions src/drivers/uavcannode/UavcanNode.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down Expand Up @@ -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()
Expand Down
2 changes: 0 additions & 2 deletions src/drivers/uavcannode/UavcanNode.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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);

Expand Down
12 changes: 6 additions & 6 deletions src/drivers/uavcannode/allocator.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -50,19 +50,19 @@ 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);
}
}
};
Expand Down
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