Reorganized directory structure - directory 'internal' pulled up one level. No logical changes.

libuavcan/include/uavcan/map.hpp

@@ -0,0 +1,308 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#pragma once
+
+#include <cassert>
+#include <cstdlib>
+#include <stdint.h>
+#include <uavcan/linked_list.hpp>
+#include <uavcan/impl_constants.hpp>
+#include <uavcan/dynamic_memory.hpp>
+#include <uavcan/util/compile_time.hpp>
+
+namespace uavcan
+{
+/**
+ * Slow but memory efficient KV container.
+ * Type requirements:
+ *  Both key and value must be copyable, assignable and default constructible.
+ *  Key must implement a comparison operator.
+ *  Key's default constructor must initialize the object into invalid state.
+ *  Size of Key + Value + padding must not exceed MemPoolBlockSize.
+ */
+template <typename Key, typename Value, unsigned int NumStaticEntries>
+class Map : Noncopyable
+{
+UAVCAN_PACKED_BEGIN
+    struct KVPair
+    {
+        Key key;
+        Value value;
+        KVPair() { }
+        KVPair(const Key& key, const Value& value) : key(key), value(value) { }
+        bool match(const Key& rhs) const { return rhs == key; }
+    };
+
+    struct KVGroup : LinkedListNode<KVGroup>
+    {
+        enum { NumKV = (MemPoolBlockSize - sizeof(LinkedListNode<KVGroup>)) / sizeof(KVPair) };
+        KVPair kvs[NumKV];
+
+        KVGroup()
+        {
+            StaticAssert<(NumKV > 0)>::check();
+            IsDynamicallyAllocatable<KVGroup>::check();
+        }
+
+        static KVGroup* instantiate(IAllocator& allocator)
+        {
+            void* const praw = allocator.allocate(sizeof(KVGroup));
+            if (praw == NULL)
+                return NULL;
+            return new (praw) KVGroup();
+        }
+
+        static void destroy(KVGroup*& obj, IAllocator& allocator)
+        {
+            if (obj != NULL)
+            {
+                obj->~KVGroup();
+                allocator.deallocate(obj);
+                obj = NULL;
+            }
+        }
+
+        KVPair* find(const Key& key)
+        {
+            for (int i = 0; i < NumKV; i++)
+                if (kvs[i].match(key))
+                    return kvs + i;
+            return NULL;
+        }
+    };
+UAVCAN_PACKED_END
+
+    LinkedListRoot<KVGroup> list_;
+    IAllocator& allocator_;
+    KVPair static_[NumStaticEntries];
+
+    KVPair* find(const Key& key)
+    {
+        for (unsigned int i = 0; i < NumStaticEntries; i++)
+            if (static_[i].match(key))
+                return static_ + i;
+
+        KVGroup* p = list_.get();
+        while (p)
+        {
+            KVPair* const kv = p->find(key);
+            if (kv)
+                return kv;
+            p = p->getNextListNode();
+        }
+        return NULL;
+    }
+
+    void optimizeStorage()
+    {
+        while (true)
+        {
+            // Looking for first EMPTY static entry
+            KVPair* stat = NULL;
+            for (unsigned int i = 0; i < NumStaticEntries; i++)
+            {
+                if (static_[i].match(Key()))
+                {
+                    stat = static_ + i;
+                    break;
+                }
+            }
+            if (stat == NULL)
+                break;
+
+            // Looking for the first NON-EMPTY dynamic entry, erasing immediately
+            KVGroup* p = list_.get();
+            KVPair dyn;
+            while (p)
+            {
+                bool stop = false;
+                for (int i = 0; i < KVGroup::NumKV; i++)
+                {
+                    if (!p->kvs[i].match(Key())) // Non empty
+                    {
+                        dyn = p->kvs[i];         // Copy by value
+                        p->kvs[i] = KVPair();    // Erase immediately
+                        stop = true;
+                        break;
+                    }
+                }
+                if (stop)
+                    break;
+                p = p->getNextListNode();
+            }
+            if (dyn.match(Key()))
+                break;
+
+            // Migrating
+            *stat = dyn;
+        }
+    }
+
+    void compact()
+    {
+        KVGroup* p = list_.get();
+        while (p)
+        {
+            KVGroup* const next = p->getNextListNode();
+            bool remove_this = true;
+            for (int i = 0; i < KVGroup::NumKV; i++)
+            {
+                if (!p->kvs[i].match(Key()))
+                {
+                    remove_this = false;
+                    break;
+                }
+            }
+            if (remove_this)
+            {
+                list_.remove(p);
+                KVGroup::destroy(p, allocator_);
+            }
+            p = next;
+        }
+    }
+
+    struct YesPredicate
+    {
+        bool operator()(const Key& k, const Value& v) const { (void)k; (void)v; return true; }
+    };
+
+    // This container is not copyable
+    Map(const Map&);
+    bool operator=(const Map&);
+
+public:
+    Map(IAllocator& allocator)
+    : allocator_(allocator)
+    {
+        assert(Key() == Key());
+    }
+
+    ~Map() { removeAll(); }
+
+    Value* access(const Key& key)
+    {
+        assert(!(key == Key()));
+        KVPair* const kv = find(key);
+        return kv ? &kv->value : NULL;
+    }
+
+    /// If entry with the same key already exists, it will be replaced
+    Value* insert(const Key& key, const Value& value)
+    {
+        assert(!(key == Key()));
+        remove(key);
+
+        KVPair* const kv = find(Key());
+        if (kv)
+        {
+            *kv = KVPair(key, value);
+            return &kv->value;
+        }
+
+        KVGroup* const kvg = KVGroup::instantiate(allocator_);
+        if (kvg == NULL)
+            return NULL;
+        list_.insert(kvg);
+        kvg->kvs[0] = KVPair(key, value);
+        return &kvg->kvs[0].value;
+    }
+
+    void remove(const Key& key)
+    {
+        assert(!(key == Key()));
+        KVPair* const kv = find(key);
+        if (kv)
+        {
+            *kv = KVPair();
+            optimizeStorage();
+            compact();
+        }
+    }
+
+    /**
+     * Remove entries where predicate returns true.
+     * Predicate prototype:
+     *  bool (const Key& key, const Value& value)
+     */
+    template <typename Predicate>
+    void removeWhere(Predicate predicate)
+    {
+        unsigned int num_removed = 0;
+
+        for (unsigned int i = 0; i < NumStaticEntries; i++)
+        {
+            if (!static_[i].match(Key()))
+            {
+                if (predicate(static_[i].key, static_[i].value))
+                {
+                    num_removed++;
+                    static_[i] = KVPair();
+                }
+            }
+        }
+
+        KVGroup* p = list_.get();
+        while (p)
+        {
+            for (int i = 0; i < KVGroup::NumKV; i++)
+            {
+                const KVPair* const kv = p->kvs + i;
+                if (!kv->match(Key()))
+                {
+                    if (predicate(kv->key, kv->value))
+                    {
+                        num_removed++;
+                        p->kvs[i] = KVPair();
+                    }
+                }
+            }
+            p = p->getNextListNode();
+        }
+
+        if (num_removed > 0)
+        {
+            optimizeStorage();
+            compact();
+        }
+    }
+
+    void removeAll()
+    {
+        removeWhere(YesPredicate());
+    }
+
+    bool isEmpty() const { return (getNumStaticPairs() == 0) && (getNumDynamicPairs() == 0); }
+
+    /// For testing
+    unsigned int getNumStaticPairs() const
+    {
+        unsigned int num = 0;
+        for (unsigned int i = 0; i < NumStaticEntries; i++)
+            if (!static_[i].match(Key()))
+                num++;
+        return num;
+    }
+
+    /// For testing
+    unsigned int getNumDynamicPairs() const
+    {
+        unsigned int num = 0;
+        KVGroup* p = list_.get();
+        while (p)
+        {
+            for (int i = 0; i < KVGroup::NumKV; i++)
+            {
+                const KVPair* const kv = p->kvs + i;
+                if (!kv->match(Key()))
+                    num++;
+            }
+            p = p->getNextListNode();
+        }
+        return num;
+    }
+};
+
+}