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