Heavy optimizations for ROM/RAM usage in UAVCAN_TINY mode

libuavcan/include/uavcan/impl_constants.hpp

@@ -61,9 +61,10 @@
 #endif
 
 /**
- * Functionality / Code Size trade-off.
+ * Trade-off between ROM/RAM usage and functionality/determinism.
+ * Note that this feature is not well tested and should be avoided.
  * 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.
+ * This is particularly useful for embedded systems with less than 40kB of ROM.
  */
 #ifndef UAVCAN_TINY
 # define UAVCAN_TINY 0

libuavcan/include/uavcan/map.hpp

@@ -86,13 +86,16 @@ class UAVCAN_EXPORT MapBase : Noncopyable
 
     LinkedListRoot<KVGroup> list_;
     IPoolAllocator& allocator_;
+#if !UAVCAN_TINY
     KVPair* const static_;
     const unsigned num_static_entries_;
+#endif
 
     KVPair* find(const Key& key);
 
+#if !UAVCAN_TINY
     void optimizeStorage();
-
+#endif
     void compact();
 
     struct YesPredicate
@@ -101,6 +104,13 @@ class UAVCAN_EXPORT MapBase : Noncopyable
     };
 
 protected:
+#if UAVCAN_TINY
+    MapBase(IPoolAllocator& allocator)
+        : allocator_(allocator)
+    {
+        assert(Key() == Key());
+    }
+#else
     MapBase(KVPair* static_buf, unsigned num_static_entries, IPoolAllocator& allocator)
         : allocator_(allocator)
         , static_(static_buf)
@@ -108,6 +118,7 @@ protected:
     {
         assert(Key() == Key());
     }
+#endif
 
     /// Derived class destructor must call removeAll();
     ~MapBase() { }
@@ -149,11 +160,17 @@ class UAVCAN_EXPORT Map : public MapBase<Key, Value>
     typename MapBase<Key, Value>::KVPair static_[NumStaticEntries];
 
 public:
+
+#if !UAVCAN_TINY
+
+    // This instantiation will not be valid in UAVCAN_TINY mode
     Map(IPoolAllocator& allocator)
         : MapBase<Key, Value>(static_, NumStaticEntries, allocator)
     { }
 
     ~Map() { this->removeAll(); }
+
+#endif // !UAVCAN_TINY
 };
 
 
@@ -162,7 +179,11 @@ class UAVCAN_EXPORT Map<Key, Value, 0> : public MapBase<Key, Value>
 {
 public:
     Map(IPoolAllocator& allocator)
+#if UAVCAN_TINY
+        : MapBase<Key, Value>(allocator)
+#else
         : MapBase<Key, Value>(NULL, 0, allocator)
+#endif
     { }
 
     ~Map() { this->removeAll(); }
@@ -176,6 +197,7 @@ public:
 template <typename Key, typename Value>
 typename MapBase<Key, Value>::KVPair* MapBase<Key, Value>::find(const Key& key)
 {
+#if !UAVCAN_TINY
     for (unsigned i = 0; i < num_static_entries_; i++)
     {
         if (static_[i].match(key))
@@ -183,6 +205,7 @@ typename MapBase<Key, Value>::KVPair* MapBase<Key, Value>::find(const Key& key)
             return static_ + i;
         }
     }
+#endif
 
     KVGroup* p = list_.get();
     while (p)
@@ -197,6 +220,8 @@ typename MapBase<Key, Value>::KVPair* MapBase<Key, Value>::find(const Key& key)
     return NULL;
 }
 
+#if !UAVCAN_TINY
+
 template <typename Key, typename Value>
 void MapBase<Key, Value>::optimizeStorage()
 {
@@ -249,6 +274,8 @@ void MapBase<Key, Value>::optimizeStorage()
     }
 }
 
+#endif // !UAVCAN_TINY
+
 template <typename Key, typename Value>
 void MapBase<Key, Value>::compact()
 {
@@ -313,7 +340,9 @@ void MapBase<Key, Value>::remove(const Key& key)
     if (kv)
     {
         *kv = KVPair();
+#if !UAVCAN_TINY
         optimizeStorage();
+#endif
         compact();
     }
 }
@@ -324,6 +353,7 @@ void MapBase<Key, Value>::removeWhere(Predicate predicate)
 {
     unsigned num_removed = 0;
 
+#if !UAVCAN_TINY
     for (unsigned i = 0; i < num_static_entries_; i++)
     {
         if (!static_[i].match(Key()))
@@ -335,6 +365,7 @@ void MapBase<Key, Value>::removeWhere(Predicate predicate)
             }
         }
     }
+#endif
 
     KVGroup* p = list_.get();
     while (p)
@@ -356,7 +387,9 @@ void MapBase<Key, Value>::removeWhere(Predicate predicate)
 
     if (num_removed > 0)
     {
+#if !UAVCAN_TINY
         optimizeStorage();
+#endif
         compact();
     }
 }
@@ -365,6 +398,7 @@ template <typename Key, typename Value>
 template <typename Predicate>
 const Key* MapBase<Key, Value>::findFirstKey(Predicate predicate) const
 {
+#if !UAVCAN_TINY
     for (unsigned i = 0; i < num_static_entries_; i++)
     {
         if (!static_[i].match(Key()))
@@ -375,6 +409,7 @@ const Key* MapBase<Key, Value>::findFirstKey(Predicate predicate) const
             }
         }
     }
+#endif
 
     KVGroup* p = list_.get();
     while (p)
@@ -411,6 +446,7 @@ template <typename Key, typename Value>
 unsigned MapBase<Key, Value>::getNumStaticPairs() const
 {
     unsigned num = 0;
+#if !UAVCAN_TINY
     for (unsigned i = 0; i < num_static_entries_; i++)
     {
         if (!static_[i].match(Key()))
@@ -418,6 +454,7 @@ unsigned MapBase<Key, Value>::getNumStaticPairs() const
             num++;
         }
     }
+#endif
     return num;
 }
 

libuavcan/include/uavcan/node/generic_subscriber.hpp

@@ -98,11 +98,16 @@ class UAVCAN_EXPORT TransferListenerInstantiationHelper
     enum { DataTypeMaxByteLen = BitLenToByteLen<DataStruct_::MaxBitLen>::Result };
     enum { NeedsBuffer = int(DataTypeMaxByteLen) > int(MaxSingleFrameTransferPayloadLen) };
     enum { BufferSize = NeedsBuffer ? DataTypeMaxByteLen : 0 };
-    enum { NumStaticBufs = NeedsBuffer ? (NumStaticBufs_ ? NumStaticBufs_ : 1) : 0 };
+#if UAVCAN_TINY
+    enum { NumStaticBufs = 0 };
+    enum { NumStaticReceivers = 0 };
+#else
+    enum { NumStaticBufs = NeedsBuffer ? NumStaticBufs_: 0 };
+    enum { NumStaticReceivers = NumStaticReceivers_ };
+#endif
 
 public:
-    // TODO: support for zero static bufs
+    typedef TransferListener<BufferSize, NumStaticBufs, NumStaticReceivers> Type;
-    typedef TransferListener<BufferSize, NumStaticBufs, NumStaticReceivers_ ? NumStaticReceivers_ : 1> Type;
 };
 
 

libuavcan/include/uavcan/node/node.hpp

@@ -30,8 +30,14 @@ namespace uavcan
 {
 
 template <std::size_t MemPoolSize_,
+#if UAVCAN_TINY
+          unsigned OutgoingTransferRegistryStaticEntries = 0,
+          unsigned OutgoingTransferMaxPayloadLen = 264
+#else
           unsigned OutgoingTransferRegistryStaticEntries = 10,
-          unsigned OutgoingTransferMaxPayloadLen = MaxTransferPayloadLen>
+          unsigned OutgoingTransferMaxPayloadLen = MaxTransferPayloadLen
+#endif
+          >
 class UAVCAN_EXPORT Node : public INode
 {
     enum

libuavcan/include/uavcan/node/service_server.hpp

@@ -27,8 +27,14 @@ template <typename DataType_,
           typename Callback_ = void (*)(const ReceivedDataStructure<typename DataType_::Request>&,
                                         typename DataType_::Response&),
 #endif
+#if UAVCAN_TINY
+          unsigned NumStaticReceivers = 0,
+          unsigned NumStaticBufs = 0
+#else
           unsigned NumStaticReceivers = 2,
-          unsigned NumStaticBufs = 1>
+          unsigned NumStaticBufs = 1
+#endif
+          >
 class UAVCAN_EXPORT ServiceServer
     : public GenericSubscriber<DataType_, typename DataType_::Request,
                                typename TransferListenerInstantiationHelper<typename DataType_::Request,

libuavcan/include/uavcan/node/subscriber.hpp

@@ -25,8 +25,14 @@ template <typename DataType_,
 #else
           typename Callback_ = void (*)(const ReceivedDataStructure<DataType_>&),
 #endif
+#if UAVCAN_TINY
+          unsigned NumStaticReceivers = 0,
+          unsigned NumStaticBufs = 0
+#else
           unsigned NumStaticReceivers = 2,
-          unsigned NumStaticBufs = 1>
+          unsigned NumStaticBufs = 1
+#endif
+          >
 class UAVCAN_EXPORT Subscriber
     : public GenericSubscriber<DataType_, DataType_,
                                typename TransferListenerInstantiationHelper<DataType_, NumStaticReceivers,

libuavcan/include/uavcan/transport/transfer_buffer.hpp

@@ -298,6 +298,9 @@ public:
     TransferBufferManager(IPoolAllocator& allocator)
         : TransferBufferManagerImpl(MaxBufSize, allocator)
     {
+#if UAVCAN_TINY
+        StaticAssert<(NumStaticBufs == 0)>::check();   // Static buffers in UAVCAN_TINY mode are not allowed
+#endif
         StaticAssert<(MaxBufSize > 0)>::check();
     }
 };
@@ -305,7 +308,7 @@ public:
 template <uint16_t MaxBufSize>
 class UAVCAN_EXPORT TransferBufferManager<MaxBufSize, 0> : public TransferBufferManagerImpl
 {
-    StaticTransferBufferManagerEntry<MaxBufSize>* getStaticByIndex(uint16_t index) const
+    StaticTransferBufferManagerEntry<MaxBufSize>* getStaticByIndex(uint16_t) const
     {
         return NULL;
     }

libuavcan/include/uavcan/transport/transfer_listener.hpp

@@ -150,6 +150,10 @@ public:
         , bufmgr_(allocator)
         , receivers_(allocator)
     {
+#if UAVCAN_TINY
+        StaticAssert<NumStaticBufs == 0>::check();
+        StaticAssert<NumStaticReceivers == 0>::check();
+#endif
         StaticAssert<(NumStaticReceivers >= NumStaticBufs)>::check();  // Otherwise it would be meaningless
     }
 
@@ -164,7 +168,12 @@ public:
  * This class should be derived by callers.
  */
 template <unsigned MaxBufSize>
-class UAVCAN_EXPORT ServiceResponseTransferListener : public TransferListener<MaxBufSize, 1, 1>
+class UAVCAN_EXPORT ServiceResponseTransferListener
+#if UAVCAN_TINY
+    : public TransferListener<MaxBufSize, 0, 0>
+#else
+    : public TransferListener<MaxBufSize, 1, 1>
+#endif
 {
 public:
     struct ExpectedResponseParams

libuavcan_drivers/lpc11c24/test_olimex_lpc_p11c24/src/main.cpp

@@ -10,7 +10,7 @@
 namespace
 {
 
-typedef uavcan::Node<2048> Node;
+typedef uavcan::Node<3584> Node;
 
 Node& getNode()
 {