mirror of https://github.com/ArduPilot/ardupilot
57 lines
1.4 KiB
C++
57 lines
1.4 KiB
C++
/*
|
|
* 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>
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include "AP_UAVCAN.h"
|
|
|
|
#ifndef UAVCAN_NODE_POOL_BLOCK_SIZE
|
|
#define UAVCAN_NODE_POOL_BLOCK_SIZE 64
|
|
#endif
|
|
|
|
class AP_PoolAllocator : public uavcan::IPoolAllocator
|
|
{
|
|
public:
|
|
AP_PoolAllocator(uint16_t _pool_size);
|
|
|
|
bool init(void);
|
|
void *allocate(std::size_t size) override;
|
|
void deallocate(const void* ptr) override;
|
|
|
|
uint16_t getBlockCapacity() const override {
|
|
return num_blocks;
|
|
}
|
|
|
|
private:
|
|
const uint16_t num_blocks;
|
|
|
|
union Node {
|
|
uint8_t data[UAVCAN_NODE_POOL_BLOCK_SIZE];
|
|
Node* next;
|
|
};
|
|
|
|
Node *free_list;
|
|
Node *pool_nodes;
|
|
HAL_Semaphore sem;
|
|
|
|
uint16_t used;
|
|
uint16_t max_used;
|
|
};
|