move uavcan from modules to drivers

2026-10-23 20:43:38 +08:00 · 2018-12-04 01:06:54 -05:00
parent bbab66d974
commit 75b2053243
109 changed files with 84 additions and 71 deletions
@@ -0,0 +1,70 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @author Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#pragma once
+
+#include <systemlib/err.h>
+#include <uavcan/uavcan.hpp>
+#include <uavcan/helpers/heap_based_pool_allocator.hpp>
+
+// TODO: Entire UAVCAN application should be moved into a namespace later; this is the first step.
+namespace uavcan_node
+{
+
+struct AllocatorSynchronizer {
+	const ::irqstate_t state = ::enter_critical_section();
+	~AllocatorSynchronizer() { ::leave_critical_section(state); }
+};
+
+struct Allocator : public uavcan::HeapBasedPoolAllocator<uavcan::MemPoolBlockSize, AllocatorSynchronizer> {
+	static constexpr unsigned CapacitySoftLimit = 250;
+	static constexpr unsigned CapacityHardLimit = 500;
+
+	Allocator() :
+		uavcan::HeapBasedPoolAllocator<uavcan::MemPoolBlockSize, AllocatorSynchronizer>(CapacitySoftLimit, CapacityHardLimit)
+	{ }
+
+	~Allocator()
+	{
+		if (getNumAllocatedBlocks() > 0) {
+			warnx("UAVCAN LEAKS MEMORY: %u BLOCKS (%u BYTES) LOST",
+			      getNumAllocatedBlocks(), getNumAllocatedBlocks() * uavcan::MemPoolBlockSize);
+		}
+	}
+};
+
+}