ardupilot/libraries/AP_UAVCAN/AP_UAVCAN_pool.cpp

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/*
* This file is free software: you can redistribute it and/or modify it
* under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
/*
based on dynamic_memory.hpp which is:
Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
*/
#include <AP_HAL/AP_HAL.h>
#if HAL_ENABLE_LIBUAVCAN_DRIVERS
#include "AP_UAVCAN.h"
#include "AP_UAVCAN_pool.h"
AP_PoolAllocator::AP_PoolAllocator(uint16_t _pool_size) :
num_blocks(_pool_size / UAVCAN_NODE_POOL_BLOCK_SIZE)
{
}
bool AP_PoolAllocator::init(void)
{
WITH_SEMAPHORE(sem);
pool_nodes = (Node *)calloc(num_blocks, UAVCAN_NODE_POOL_BLOCK_SIZE);
if (pool_nodes == nullptr) {
return false;
}
for (uint16_t i=0; i<(num_blocks-1); i++) {
pool_nodes[i].next = &pool_nodes[i+1];
}
free_list = &pool_nodes[0];
return true;
}
void* AP_PoolAllocator::allocate(std::size_t size)
{
WITH_SEMAPHORE(sem);
if (free_list == nullptr || size > UAVCAN_NODE_POOL_BLOCK_SIZE) {
return nullptr;
}
Node *ret = free_list;
const uint32_t blk = ret - pool_nodes;
if (blk >= num_blocks) {
INTERNAL_ERROR(AP_InternalError::error_t::mem_guard);
return nullptr;
}
free_list = free_list->next;
used++;
if (used > max_used) {
max_used = used;
}
return ret;
}
void AP_PoolAllocator::deallocate(const void* ptr)
{
if (ptr == nullptr) {
return;
}
WITH_SEMAPHORE(sem);
Node *p = reinterpret_cast<Node*>(const_cast<void*>(ptr));
const uint32_t blk = p - pool_nodes;
if (blk >= num_blocks) {
INTERNAL_ERROR(AP_InternalError::error_t::mem_guard);
return;
}
p->next = free_list;
free_list = p;
used--;
}
#endif // HAL_ENABLE_LIBUAVCAN_DRIVERS