mirror of https://github.com/ArduPilot/ardupilot
AP_Common: removed old MultiHeap code
This commit is contained in:
Andrew Tridgell
parent
4a794b05d8
commit
eeb1dab5cb
|
|
@ -1,206 +0,0 @@
|
|||
/*
|
||||
multiple heap interface, allowing for an allocator that uses
|
||||
multiple underlying heaps to cope with multiple memory regions on
|
||||
STM32 boards
|
||||
*/
|
||||
|
||||
#include <AP_HAL/AP_HAL.h>
|
||||
#include <AP_HAL/Util.h>
|
||||
#include <AP_Math/AP_Math.h>
|
||||
#include <GCS_MAVLink/GCS.h>
|
||||
|
||||
#include "MultiHeap.h"
|
||||
#include <stdio.h>
|
||||
|
||||
#ifndef HAL_BOOTLOADER_BUILD
|
||||
|
||||
/*
|
||||
allow up to 10 heaps
|
||||
*/
|
||||
#ifndef MAX_HEAPS
|
||||
#define MAX_HEAPS 10
|
||||
#endif
|
||||
|
||||
extern const AP_HAL::HAL &hal;
|
||||
|
||||
/*
|
||||
create heaps with a total memory size, splitting over at most
|
||||
max_heaps
|
||||
*/
|
||||
bool MultiHeap::create(uint32_t total_size, uint8_t max_heaps, bool _allow_expansion, uint32_t _reserve_size)
|
||||
{
|
||||
max_heaps = MIN(MAX_HEAPS, max_heaps);
|
||||
if (heaps != nullptr) {
|
||||
// don't allow double allocation
|
||||
return false;
|
||||
}
|
||||
heaps = NEW_NOTHROW Heap[max_heaps];
|
||||
if (heaps == nullptr) {
|
||||
return false;
|
||||
}
|
||||
num_heaps = max_heaps;
|
||||
for (uint8_t i=0; i<max_heaps; i++) {
|
||||
uint32_t alloc_size = total_size;
|
||||
while (alloc_size > 0) {
|
||||
heaps[i].hp = hal.util->heap_create(alloc_size);
|
||||
if (heaps[i].hp != nullptr) {
|
||||
total_size -= alloc_size;
|
||||
sum_size += alloc_size;
|
||||
break;
|
||||
}
|
||||
alloc_size *= 0.9;
|
||||
}
|
||||
if (total_size == 0) {
|
||||
break;
|
||||
}
|
||||
}
|
||||
if (total_size != 0) {
|
||||
destroy();
|
||||
return false;
|
||||
}
|
||||
|
||||
allow_expansion = _allow_expansion;
|
||||
reserve_size = _reserve_size;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
// destroy heap
|
||||
void MultiHeap::destroy(void)
|
||||
{
|
||||
if (!available()) {
|
||||
return;
|
||||
}
|
||||
for (uint8_t i=0; i<num_heaps; i++) {
|
||||
if (heaps[i].hp != nullptr) {
|
||||
hal.util->heap_destroy(heaps[i].hp);
|
||||
heaps[i].hp = nullptr;
|
||||
}
|
||||
}
|
||||
delete[] heaps;
|
||||
heaps = nullptr;
|
||||
num_heaps = 0;
|
||||
sum_size = 0;
|
||||
}
|
||||
|
||||
// return true if heap is available for operations
|
||||
bool MultiHeap::available(void) const
|
||||
{
|
||||
return heaps != nullptr && heaps[0].hp != nullptr;
|
||||
}
|
||||
|
||||
/*
|
||||
allocate memory from a heap
|
||||
*/
|
||||
void *MultiHeap::allocate(uint32_t size)
|
||||
{
|
||||
if (!available() || size == 0) {
|
||||
return nullptr;
|
||||
}
|
||||
for (uint8_t i=0; i<num_heaps; i++) {
|
||||
if (heaps[i].hp == nullptr) {
|
||||
break;
|
||||
}
|
||||
void *newptr = hal.util->heap_allocate(heaps[i].hp, size);
|
||||
if (newptr != nullptr) {
|
||||
last_failed = false;
|
||||
return newptr;
|
||||
}
|
||||
}
|
||||
if (!allow_expansion || !last_failed) {
|
||||
/*
|
||||
we only allow expansion when the last allocation
|
||||
failed. This gives the lua engine a chance to use garbage
|
||||
collection to recover memory
|
||||
*/
|
||||
last_failed = true;
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
if (!hal.util->get_soft_armed()) {
|
||||
// only expand the available heaps when armed. When disarmed
|
||||
// user should fix their SCR_HEAP_SIZE parameter
|
||||
last_failed = true;
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
/*
|
||||
vehicle is armed and MultiHeap (for scripting) is out of
|
||||
memory. We will see if we can add a new heap from available
|
||||
memory if we have at least reserve_size bytes free
|
||||
*/
|
||||
const uint32_t available = hal.util->available_memory();
|
||||
const uint32_t heap_overhead = 128; // conservative value, varies with HAL
|
||||
const uint32_t min_size = size + heap_overhead;
|
||||
if (available < reserve_size+min_size) {
|
||||
last_failed = true;
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
// round up to a minimum of 30k to allocate, and allow for heap overhead
|
||||
const uint32_t round_to = 30*1024U;
|
||||
const uint32_t alloc_size = MIN(available - reserve_size, MAX(size+heap_overhead, round_to));
|
||||
if (alloc_size < min_size) {
|
||||
last_failed = true;
|
||||
return nullptr;
|
||||
}
|
||||
for (uint8_t i=0; i<num_heaps; i++) {
|
||||
if (heaps[i].hp == nullptr) {
|
||||
heaps[i].hp = hal.util->heap_create(alloc_size);
|
||||
if (heaps[i].hp == nullptr) {
|
||||
last_failed = true;
|
||||
return nullptr;
|
||||
}
|
||||
sum_size += alloc_size;
|
||||
expanded_to = sum_size;
|
||||
void *p = hal.util->heap_allocate(heaps[i].hp, size);
|
||||
last_failed = p == nullptr;
|
||||
return p;
|
||||
}
|
||||
}
|
||||
last_failed = true;
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
/*
|
||||
free memory from a heap
|
||||
*/
|
||||
void MultiHeap::deallocate(void *ptr)
|
||||
{
|
||||
if (!available() || ptr == nullptr) {
|
||||
return;
|
||||
}
|
||||
last_failed = false;
|
||||
hal.util->heap_free(ptr);
|
||||
}
|
||||
|
||||
/*
|
||||
change size of an allocation, operates like realloc(), but requires
|
||||
the old_size when ptr is not NULL
|
||||
*/
|
||||
void *MultiHeap::change_size(void *ptr, uint32_t old_size, uint32_t new_size)
|
||||
{
|
||||
if (new_size == 0) {
|
||||
deallocate(ptr);
|
||||
return nullptr;
|
||||
}
|
||||
/*
|
||||
we don't want to require the underlying allocation system to
|
||||
support realloc() and we also want to be able to handle the case
|
||||
of having to move the allocation to a new heap, so we do a
|
||||
simple alloc/copy/deallocate for reallocation
|
||||
*/
|
||||
void *newp = allocate(new_size);
|
||||
if (ptr == nullptr) {
|
||||
return newp;
|
||||
}
|
||||
if (newp == nullptr) {
|
||||
return nullptr;
|
||||
}
|
||||
memcpy(newp, ptr, MIN(old_size, new_size));
|
||||
deallocate(ptr);
|
||||
return newp;
|
||||
}
|
||||
|
||||
#endif // HAL_BOOTLOADER_BUILD
|
||||
|
||||
|
|
@ -1,51 +0,0 @@
|
|||
/*
|
||||
multiple heap interface, allowing for an allocator that uses
|
||||
multiple underlying heaps to cope with multiple memory regions on
|
||||
STM32 boards
|
||||
*/
|
||||
|
||||
class MultiHeap {
|
||||
public:
|
||||
/*
|
||||
allocate/deallocate heaps
|
||||
*/
|
||||
bool create(uint32_t total_size, uint8_t max_heaps, bool allow_expansion, uint32_t reserve_size);
|
||||
void destroy(void);
|
||||
|
||||
// return true if the heap is available for operations
|
||||
bool available(void) const;
|
||||
|
||||
// allocate memory within heaps
|
||||
void *allocate(uint32_t size);
|
||||
void deallocate(void *ptr);
|
||||
|
||||
// change allocated size of a pointer - this operates in a similar
|
||||
// fashion to realloc, but requires an (accurate!) old_size value
|
||||
// when ptr is not NULL. This is guaranteed by the lua scripting
|
||||
// allocation API
|
||||
void *change_size(void *ptr, uint32_t old_size, uint32_t new_size);
|
||||
|
||||
/*
|
||||
get the size that we have expanded to. Used by error reporting in scripting
|
||||
*/
|
||||
uint32_t get_expansion_size(void) const {
|
||||
return expanded_to;
|
||||
}
|
||||
|
||||
private:
|
||||
struct Heap {
|
||||
void *hp;
|
||||
};
|
||||
struct Heap *heaps;
|
||||
|
||||
uint8_t num_heaps;
|
||||
bool allow_expansion;
|
||||
uint32_t reserve_size;
|
||||
uint32_t sum_size;
|
||||
uint32_t expanded_to;
|
||||
|
||||
// we only do heap expansion if the last allocation failed this
|
||||
// encourages the lua scripting engine to garbage collect to
|
||||
// re-use memory when possible
|
||||
bool last_failed;
|
||||
};
|
||||
Loading…
Reference in New Issue