Basic functionality: CAN IO Manager, unit tests, debug stuff, memory management

libuavcan/include/uavcan/internal/dynamic_memory.hpp

@@ -0,0 +1,166 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#pragma once
+
+#include <cassert>
+#include <cstdlib>
+#include <cstring>
+#include <stdint.h>
+
+namespace uavcan
+{
+/**
+ * This interface is used by other library components that need dynamic memory.
+ */
+class IAllocator
+{
+public:
+    virtual ~IAllocator() { }
+    virtual void* allocate(std::size_t size) = 0;
+    virtual void deallocate(const void* ptr) = 0;
+};
+
+
+class IPoolAllocator : public IAllocator
+{
+public:
+    virtual bool isInPool(const void* ptr) const = 0;
+};
+
+
+template <int MAX_POOLS>
+class PoolManager : public IAllocator
+{
+    IPoolAllocator* pools_[MAX_POOLS];
+
+public:
+    PoolManager()
+    {
+        std::memset(pools_, 0, sizeof(pools_));
+    }
+
+    bool addPool(IPoolAllocator* pool)
+    {
+        assert(pool);
+        for (int i = 0; i < MAX_POOLS; i++)
+        {
+            assert(pools_[i] != pool);
+            if (pools_[i] == NULL || pools_[i] == pool)
+            {
+                pools_[i] = pool;
+                return true;
+            }
+        }
+        return false;
+    }
+
+    void* allocate(std::size_t size)
+    {
+        for (int i = 0; i < MAX_POOLS; i++)
+        {
+            if (pools_[i] == NULL)
+                break;
+            void* const pmem = pools_[i]->allocate(size);
+            if (pmem != NULL)
+                return pmem;
+        }
+        return NULL;
+    }
+
+    void deallocate(const void* ptr)
+    {
+        for (int i = 0; i < MAX_POOLS; i++)
+        {
+            if (pools_[i] == NULL)
+            {
+                assert(0);
+                break;
+            }
+            if (pools_[i]->isInPool(ptr))
+            {
+                pools_[i]->deallocate(ptr);
+                break;
+            }
+        }
+    }
+};
+
+
+template <std::size_t POOL_SIZE, std::size_t BLOCK_SIZE>
+class PoolAllocator : public IPoolAllocator
+{
+    union Node
+    {
+        uint8_t data[BLOCK_SIZE];
+        Node* next;
+    };
+
+    Node* free_list_;
+    uint8_t pool_[POOL_SIZE] __attribute__((aligned(16)));  // TODO: compiler-independent alignment
+
+    // Noncopyable
+    PoolAllocator(const PoolAllocator&);
+    PoolAllocator& operator=(const PoolAllocator&);
+
+public:
+    static const int NUM_BLOCKS = int(POOL_SIZE / BLOCK_SIZE);
+
+    PoolAllocator()
+    : free_list_(reinterpret_cast<Node*>(pool_)) // TODO: alignment
+    {
+        memset(pool_, 0, POOL_SIZE);
+        for (int i = 0; i < NUM_BLOCKS - 1; i++)
+            free_list_[i].next = free_list_ + i + 1;
+        free_list_[NUM_BLOCKS - 1].next = NULL;
+    }
+
+    void* allocate(std::size_t size)
+    {
+        if (free_list_ == NULL || size > BLOCK_SIZE)
+            return NULL;
+        void* pmem = free_list_;
+        free_list_ = free_list_->next;
+        return pmem;
+    }
+
+    void deallocate(const void* ptr)
+    {
+        if (ptr == NULL)
+            return;
+        Node* p = static_cast<Node*>(const_cast<void*>(ptr));
+#if DEBUG || UAVCAN_DEBUG
+        std::memset(p, 0, sizeof(Node));
+#endif
+        p->next = free_list_;
+        free_list_ = p;
+    }
+
+    bool isInPool(const void* ptr) const
+    {
+        return
+            ptr >= pool_ &&
+            ptr < (pool_ + POOL_SIZE);
+    }
+
+    int getNumFreeBlocks() const
+    {
+        int num = 0;
+        Node* p = free_list_;
+        while (p)
+        {
+            num++;
+            assert(num <= NUM_BLOCKS);
+            p = p->next;
+        }
+        return num;
+    }
+
+    int getNumUsedBlocks() const
+    {
+        return NUM_BLOCKS - getNumFreeBlocks();
+    }
+};
+
+}