UAVCAN_TINY preprocessor option - STM32 test compiles into 41kB in release mode (-Os, LTO)

libuavcan/include/uavcan/impl_constants.hpp

@@ -60,6 +60,15 @@
 # define UAVCAN_EXPORT
 #endif
 
+/**
+ * Functionality / Code Size trade-off.
+ * Use code search for UAVCAN_TINY to find what functionality will be disabled.
+ * This is particularly useful for embedded systems with less than 64kB of ROM.
+ */
+#ifndef UAVCAN_TINY
+# define UAVCAN_TINY 0
+#endif
+
 /**
  * It might make sense to remove toString() methods for an embedded system
  */

libuavcan/include/uavcan/node/node.hpp

@@ -13,11 +13,14 @@
 
 // High-level functionality available by default
 #include <uavcan/protocol/data_type_info_provider.hpp>
-#include <uavcan/protocol/logger.hpp>
 #include <uavcan/protocol/node_status_provider.hpp>
-#include <uavcan/protocol/restart_request_server.hpp>
-#include <uavcan/protocol/transport_stats_provider.hpp>
-#include <uavcan/protocol/network_compat_checker.hpp>
+
+#if !UAVCAN_TINY
+# include <uavcan/protocol/logger.hpp>
+# include <uavcan/protocol/restart_request_server.hpp>
+# include <uavcan/protocol/transport_stats_provider.hpp>
+# include <uavcan/protocol/network_compat_checker.hpp>
+#endif
 
 #if !defined(UAVCAN_CPP_VERSION) || !defined(UAVCAN_CPP11)
 # error UAVCAN_CPP_VERSION
@@ -44,10 +47,12 @@ class UAVCAN_EXPORT Node : public INode
     Scheduler scheduler_;
 
     DataTypeInfoProvider proto_dtp_;
-    Logger proto_logger_;
     NodeStatusProvider proto_nsp_;
+#if !UAVCAN_TINY
+    Logger proto_logger_;
     RestartRequestServer proto_rrs_;
     TransportStatsProvider proto_tsp_;
+#endif
 
     bool started_;
 
@@ -55,7 +60,11 @@ protected:
     virtual void registerInternalFailure(const char* msg)
     {
         UAVCAN_TRACE("Node", "Internal failure: %s", msg);
+#if UAVCAN_TINY
+        (void)msg;
+#else
         (void)getLogger().log(protocol::debug::LogLevel::ERROR, "UAVCAN", msg);
+#endif
     }
 
     virtual IMarshalBufferProvider& getMarshalBufferProvider() { return marsh_buf_; }
@@ -65,10 +74,12 @@ public:
         : outgoing_trans_reg_(pool_allocator_)
         , scheduler_(can_driver, pool_allocator_, system_clock, outgoing_trans_reg_)
         , proto_dtp_(*this)
-        , proto_logger_(*this)
         , proto_nsp_(*this)
+#if !UAVCAN_TINY
+        , proto_logger_(*this)
         , proto_rrs_(*this)
         , proto_tsp_(*this)
+#endif
         , started_(false)
     { }
 
@@ -99,7 +110,9 @@ public:
 
     int start();
 
+#if !UAVCAN_TINY
     int checkNetworkCompatibility(NetworkCompatibilityCheckResult& result);
+#endif
 
     /*
      * Initialization methods
@@ -121,6 +134,7 @@ public:
 
     NodeStatusProvider& getNodeStatusProvider() { return proto_nsp_; }
 
+#if !UAVCAN_TINY
     /*
      * Restart handler
      */
@@ -167,6 +181,8 @@ public:
 #endif
 
     Logger& getLogger() { return proto_logger_; }
+
+#endif  // UAVCAN_TINY
 };
 
 // ----------------------------------------------------------------------------
@@ -187,12 +203,13 @@ int Node<MemPoolSize_, OutgoingTransferRegistryStaticEntries, OutgoingTransferMa
     {
         goto fail;
     }
-    res = proto_logger_.init();
+    res = proto_nsp_.startAndPublish();
     if (res < 0)
     {
         goto fail;
     }
-    res = proto_nsp_.startAndPublish();
+#if !UAVCAN_TINY
+    res = proto_logger_.init();
     if (res < 0)
     {
         goto fail;
@@ -207,6 +224,7 @@ int Node<MemPoolSize_, OutgoingTransferRegistryStaticEntries, OutgoingTransferMa
     {
         goto fail;
     }
+#endif
     started_ = res >= 0;
     return res;
 fail:
@@ -214,6 +232,8 @@ fail:
     return res;
 }
 
+#if !UAVCAN_TINY
+
 template <std::size_t MemPoolSize_, unsigned OutgoingTransferRegistryStaticEntries,
           unsigned OutgoingTransferMaxPayloadLen>
 int Node<MemPoolSize_, OutgoingTransferRegistryStaticEntries, OutgoingTransferMaxPayloadLen>::
@@ -237,4 +257,6 @@ checkNetworkCompatibility(NetworkCompatibilityCheckResult& result)
     return res;
 }
 
+#endif
+
 }

libuavcan/include/uavcan/transport/perf_counter.hpp

@@ -10,6 +10,22 @@
 namespace uavcan
 {
 
+#if UAVCAN_TINY
+
+class UAVCAN_EXPORT TransferPerfCounter
+{
+public:
+    void addTxTransfer() { }
+    void addRxTransfer() { }
+    void addError() { }
+    void addErrors(unsigned) { }
+    uint64_t getTxTransferCount() const { return 0; }
+    uint64_t getRxTransferCount() const { return 0; }
+    uint64_t getErrorCount() const { return 0; }
+};
+
+#else
+
 class UAVCAN_EXPORT TransferPerfCounter
 {
     uint64_t transfers_tx_;
@@ -38,4 +54,6 @@ public:
     uint64_t getErrorCount() const { return errors_; }
 };
 
+#endif
+
 }

libuavcan_drivers/stm32/test_stm32f107/Makefile

@@ -18,7 +18,8 @@ UDEFS = -DUAVCAN_STM32_CHIBIOS=1         \
         -DUAVCAN_STM32_TIMER_NUMBER=6    \
         -DUAVCAN_MEM_POOL_BLOCK_SIZE=56  \
         -DUAVCAN_TOSTRING=0              \
-        -DUAVCAN_EXCEPTIONS=0
+        -DUAVCAN_EXCEPTIONS=0            \
+        -DUAVCAN_TINY=1
 
 include ../../../libuavcan/include.mk
 CPPSRC += $(LIBUAVCAN_SRC)

libuavcan_drivers/stm32/test_stm32f107/src/main.cpp

@@ -84,21 +84,25 @@ public:
             // Calling start() multiple times is OK - only the first successfull call will be effective
             int res = node.start();
 
+#if !UAVCAN_TINY
             uavcan::NetworkCompatibilityCheckResult ncc_result;
             if (res >= 0)
             {
                 lowsyslog("Checking network compatibility...\n");
                 res = node.checkNetworkCompatibility(ncc_result);
             }
+#endif
 
             if (res < 0)
             {
                 lowsyslog("Node initialization failure: %i, will try agin soon\n", res);
             }
+#if !UAVCAN_TINY
             else if (!ncc_result.isOk())
             {
                 lowsyslog("Network conflict with %u, will try again soon\n", ncc_result.conflicting_node.get());
             }
+#endif
             else
             {
                 break;
@@ -123,7 +127,6 @@ public:
          */
         lowsyslog("UAVCAN node started\n");
         node.setStatusOk();
-        node.getLogger().setLevel(uavcan::protocol::debug::LogLevel::INFO);
         while (true)
         {
             const int spin_res = node.spin(uavcan::MonotonicDuration::fromMSec(5000));
@@ -141,10 +144,13 @@ public:
                       static_cast<unsigned long>(can.driver.getIface(0)->getErrorCount()),
                       static_cast<unsigned long>(can.driver.getIface(1)->getErrorCount()));
 
+#if !UAVCAN_TINY
+            node.getLogger().setLevel(uavcan::protocol::debug::LogLevel::INFO);
             node.logInfo("app", "UTC %* sec, %* corr, %* jumps",
                          uavcan_stm32::clock::getUtc().toMSec() / 1000,
                          uavcan_stm32::clock::getUtcSpeedCorrectionPPM(),
                          uavcan_stm32::clock::getUtcAjdustmentJumpCount());
+#endif
         }
         return msg_t();
     }