mirror of https://github.com/ArduPilot/ardupilot
78 lines
2.6 KiB
C++
78 lines
2.6 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "AP_ExpandingArray.h"
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#include <AP_HAL/AP_HAL.h>
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extern const AP_HAL::HAL& hal;
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AP_ExpandingArrayGeneric::~AP_ExpandingArrayGeneric(void)
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{
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// free chunks
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for (uint16_t i=0; i<chunk_count; i++) {
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free(chunk_ptrs[i]);
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}
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// free chunks_ptrs array
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free(chunk_ptrs);
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}
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// expand the array by specified number of chunks, returns true on success
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bool AP_ExpandingArrayGeneric::expand(uint16_t num_chunks)
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{
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// expand chunk_ptrs array if necessary
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if (chunk_count + num_chunks >= chunk_count_max) {
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uint16_t chunk_ptr_size = chunk_count + num_chunks + chunk_ptr_increment;
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if (hal.util->available_memory() < 100U + (chunk_ptr_size * sizeof(chunk_ptr_t))) {
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// fail if reallocating would leave less than 100 bytes of memory free
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return false;
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}
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chunk_ptr_t *chunk_ptrs_new = (chunk_ptr_t*)hal.util->std_realloc((void*)chunk_ptrs, chunk_ptr_size * sizeof(chunk_ptr_t));
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if (chunk_ptrs_new == nullptr) {
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return false;
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}
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// use new pointers array
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chunk_ptrs = chunk_ptrs_new;
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chunk_count_max = chunk_ptr_size;
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}
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// allocate new chunks
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for (uint16_t i = 0; i < num_chunks; i++) {
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if (hal.util->available_memory() < 100U + (chunk_size * elem_size)) {
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// fail if reallocating would leave less than 100 bytes of memory free
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return false;
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}
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uint8_t *new_chunk = (uint8_t *)calloc(chunk_size, elem_size);
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if (new_chunk == nullptr) {
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// failed to allocate new chunk
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return false;
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}
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chunk_ptrs[chunk_count] = new_chunk;
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chunk_count++;
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}
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return true;
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}
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// expand to hold at least num_items
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bool AP_ExpandingArrayGeneric::expand_to_hold(uint16_t num_items)
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{
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// check if already big enough
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if (num_items <= max_items()) {
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return true;
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}
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uint16_t chunks_required = ((num_items - max_items()) / chunk_size) + 1;
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return expand(chunks_required);
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}
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