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Cyphal restore O1Heap statistics

This commit is contained in:
Peter van der Perk 2022-05-11 09:47:47 +02:00 committed by Daniel Agar
parent e62e8b58d1
commit 0053aeec97
3 changed files with 18 additions and 11 deletions
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21
src/drivers/cyphal/CanardHandle.cpp
View File

@ -52,18 +52,18 @@
#endif // NuttX
O1HeapInstance *uavcan_allocator{nullptr};
O1HeapInstance *cyphal_allocator{nullptr};
static void *memAllocate(CanardInstance *const ins, const size_t amount) { return o1heapAllocate(uavcan_allocator, amount); }
static void memFree(CanardInstance *const ins, void *const pointer) { o1heapFree(uavcan_allocator, pointer); }
static void *memAllocate(CanardInstance *const ins, const size_t amount) { return o1heapAllocate(cyphal_allocator, amount); }
static void memFree(CanardInstance *const ins, void *const pointer) { o1heapFree(cyphal_allocator, pointer); }
CanardHandle::CanardHandle(uint32_t node_id, const size_t capacity, const size_t mtu_bytes)
{
_uavcan_heap = memalign(O1HEAP_ALIGNMENT, HeapSize);
uavcan_allocator = o1heapInit(_uavcan_heap, HeapSize, nullptr, nullptr);
_cyphal_heap = memalign(O1HEAP_ALIGNMENT, HeapSize);
cyphal_allocator = o1heapInit(_cyphal_heap, HeapSize, nullptr, nullptr);
if (uavcan_allocator == nullptr) {
if (cyphal_allocator == nullptr) {
PX4_ERR("o1heapInit failed with size %u", HeapSize);
}
@ -89,8 +89,8 @@ CanardHandle::~CanardHandle()
delete _can_interface;
_can_interface = nullptr;
delete static_cast<uint8_t *>(_uavcan_heap);
_uavcan_heap = nullptr;
delete static_cast<uint8_t *>(_cyphal_heap);
_cyphal_heap = nullptr;
}
@ -200,6 +200,11 @@ CanardTreeNode *CanardHandle::getRxSubscriptions(CanardTransferKind kind)
return _canard_instance.rx_subscriptions[kind];
}
O1HeapDiagnostics CanardHandle::getO1HeapDiagnostics()
{
return o1heapGetDiagnostics(cyphal_allocator);
}
int32_t CanardHandle::mtu()
{
return _queue.mtu_bytes;

4
src/drivers/cyphal/CanardHandle.hpp
View File

@ -34,6 +34,7 @@
#pragma once
#include <canard.h>
#include "o1heap/o1heap.h"
#include "CanardInterface.hpp"
class CanardHandle
@ -68,6 +69,7 @@ public:
int8_t RxUnsubscribe(const CanardTransferKind transfer_kind,
const CanardPortID port_id);
CanardTreeNode *getRxSubscriptions(CanardTransferKind kind);
O1HeapDiagnostics getO1HeapDiagnostics();
int32_t mtu();
CanardNodeID node_id();
@ -80,6 +82,6 @@ private:
CanardTxQueue _queue;
void *_uavcan_heap{nullptr};
void *_cyphal_heap{nullptr};
};

4
src/drivers/cyphal/Cyphal.cpp
View File

@ -245,12 +245,12 @@ void CyphalNode::print_info()
perf_print_counter(_cycle_perf);
perf_print_counter(_interval_perf);
/*O1HeapDiagnostics heap_diagnostics = o1heapGetDiagnostics(uavcan_allocator);
O1HeapDiagnostics heap_diagnostics = _canard_handle.getO1HeapDiagnostics();
PX4_INFO("Heap status %zu/%zu Peak alloc %zu Peak req %zu OOM count %" PRIu64,
heap_diagnostics.allocated, heap_diagnostics.capacity,
heap_diagnostics.peak_allocated, heap_diagnostics.peak_request_size,
heap_diagnostics.oom_count);*/
heap_diagnostics.oom_count);
_pub_manager.printInfo();