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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Much space optimized Map<> container - saves 40kb of Flash for STM32 test (-O1)
This commit is contained in:
Pavel Kirienko
parent
20aa6e3056
commit
a13e4de58a
@ -86,103 +86,11 @@ class UAVCAN_EXPORT Map : Noncopyable
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IAllocator& allocator_;
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KVPair static_[NumStaticEntries];
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KVPair* find(const Key& key)
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{
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for (unsigned i = 0; i < NumStaticEntries; i++)
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{
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if (static_[i].match(key))
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{
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return static_ + i;
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}
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}
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KVPair* find(const Key& key);
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KVGroup* p = list_.get();
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while (p)
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{
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KVPair* const kv = p->find(key);
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if (kv)
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{
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return kv;
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}
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p = p->getNextListNode();
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}
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return NULL;
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}
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void optimizeStorage();
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void optimizeStorage()
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{
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while (true)
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{
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// Looking for first EMPTY static entry
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KVPair* stat = NULL;
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for (unsigned i = 0; i < NumStaticEntries; i++)
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{
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if (static_[i].match(Key()))
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{
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stat = static_ + i;
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break;
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}
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}
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if (stat == NULL)
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{
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break;
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}
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// Looking for the first NON-EMPTY dynamic entry, erasing immediately
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KVGroup* p = list_.get();
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KVPair dyn;
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while (p)
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{
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bool stop = false;
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for (int i = 0; i < KVGroup::NumKV; i++)
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{
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if (!p->kvs[i].match(Key())) // Non empty
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{
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dyn = p->kvs[i]; // Copy by value
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p->kvs[i] = KVPair(); // Erase immediately
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stop = true;
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break;
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}
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}
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if (stop)
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{
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break;
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}
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p = p->getNextListNode();
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}
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if (dyn.match(Key()))
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{
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break;
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}
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// Migrating
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*stat = dyn;
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}
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}
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void compact()
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{
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KVGroup* p = list_.get();
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while (p)
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{
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KVGroup* const next = p->getNextListNode();
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bool remove_this = true;
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for (int i = 0; i < KVGroup::NumKV; i++)
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{
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if (!p->kvs[i].match(Key()))
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{
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remove_this = false;
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break;
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}
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}
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if (remove_this)
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{
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list_.remove(p);
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KVGroup::destroy(p, allocator_);
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}
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p = next;
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}
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}
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void compact();
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struct YesPredicate
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{
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@ -202,47 +110,12 @@ public:
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~Map() { removeAll(); }
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Value* access(const Key& key)
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{
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assert(!(key == Key()));
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KVPair* const kv = find(key);
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return kv ? &kv->value : NULL;
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}
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Value* access(const Key& key);
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/// If entry with the same key already exists, it will be replaced
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Value* insert(const Key& key, const Value& value)
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{
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assert(!(key == Key()));
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remove(key);
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Value* insert(const Key& key, const Value& value);
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KVPair* const kv = find(Key());
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if (kv)
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{
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*kv = KVPair(key, value);
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return &kv->value;
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}
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KVGroup* const kvg = KVGroup::instantiate(allocator_);
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if (kvg == NULL)
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{
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return NULL;
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}
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list_.insert(kvg);
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kvg->kvs[0] = KVPair(key, value);
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return &kvg->kvs[0].value;
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}
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void remove(const Key& key)
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{
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assert(!(key == Key()));
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KVPair* const kv = find(key);
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if (kv)
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{
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*kv = KVPair();
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optimizeStorage();
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compact();
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}
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}
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void remove(const Key& key);
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/**
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* Remove entries where predicate returns true.
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@ -250,120 +123,293 @@ public:
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* bool (const Key& key, const Value& value)
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*/
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template <typename Predicate>
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void removeWhere(Predicate predicate)
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{
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unsigned num_removed = 0;
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for (unsigned i = 0; i < NumStaticEntries; i++)
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{
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if (!static_[i].match(Key()))
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{
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if (predicate(static_[i].key, static_[i].value))
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{
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num_removed++;
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static_[i] = KVPair();
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}
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}
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}
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KVGroup* p = list_.get();
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while (p)
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{
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for (int i = 0; i < KVGroup::NumKV; i++)
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{
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const KVPair* const kv = p->kvs + i;
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if (!kv->match(Key()))
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{
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if (predicate(kv->key, kv->value))
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{
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num_removed++;
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p->kvs[i] = KVPair();
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}
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}
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}
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p = p->getNextListNode();
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}
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if (num_removed > 0)
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{
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optimizeStorage();
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compact();
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}
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}
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void removeWhere(Predicate predicate);
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template <typename Predicate>
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const Key* findFirstKey(Predicate predicate) const
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const Key* findFirstKey(Predicate predicate) const;
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void removeAll();
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bool isEmpty() const;
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/// For testing
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unsigned getNumStaticPairs() const;
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/// For testing
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unsigned getNumDynamicPairs() const;
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};
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// ----------------------------------------------------------------------------
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/*
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* Map<>
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*/
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template <typename Key, typename Value, unsigned NumStaticEntries>
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typename Map<Key, Value, NumStaticEntries>::KVPair* Map<Key, Value, NumStaticEntries>::find(const Key& key)
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{
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for (unsigned i = 0; i < NumStaticEntries; i++)
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{
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if (static_[i].match(key))
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{
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return static_ + i;
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}
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}
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KVGroup* p = list_.get();
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while (p)
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{
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KVPair* const kv = p->find(key);
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if (kv)
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{
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return kv;
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}
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p = p->getNextListNode();
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}
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return NULL;
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}
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template <typename Key, typename Value, unsigned NumStaticEntries>
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void Map<Key, Value, NumStaticEntries>::optimizeStorage()
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{
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while (true)
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{
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// Looking for first EMPTY static entry
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KVPair* stat = NULL;
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for (unsigned i = 0; i < NumStaticEntries; i++)
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{
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if (!static_[i].match(Key()))
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if (static_[i].match(Key()))
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{
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if (predicate(static_[i].key, static_[i].value))
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{
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return &static_[i].key;
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}
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stat = static_ + i;
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break;
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}
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}
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if (stat == NULL)
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{
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break;
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}
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// Looking for the first NON-EMPTY dynamic entry, erasing immediately
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KVGroup* p = list_.get();
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KVPair dyn;
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while (p)
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{
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bool stop = false;
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for (int i = 0; i < KVGroup::NumKV; i++)
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{
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const KVPair* const kv = p->kvs + i;
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if (!kv->match(Key()))
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if (!p->kvs[i].match(Key())) // Non empty
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{
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if (predicate(kv->key, kv->value))
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{
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return &p->kvs[i].key;
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}
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dyn = p->kvs[i]; // Copy by value
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p->kvs[i] = KVPair(); // Erase immediately
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stop = true;
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break;
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}
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}
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if (stop)
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{
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break;
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}
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p = p->getNextListNode();
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}
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if (dyn.match(Key()))
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{
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break;
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}
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// Migrating
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*stat = dyn;
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}
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}
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template <typename Key, typename Value, unsigned NumStaticEntries>
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void Map<Key, Value, NumStaticEntries>::compact()
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{
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KVGroup* p = list_.get();
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while (p)
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{
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KVGroup* const next = p->getNextListNode();
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bool remove_this = true;
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for (int i = 0; i < KVGroup::NumKV; i++)
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{
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if (!p->kvs[i].match(Key()))
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{
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remove_this = false;
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break;
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}
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}
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if (remove_this)
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{
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list_.remove(p);
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KVGroup::destroy(p, allocator_);
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}
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p = next;
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}
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}
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template <typename Key, typename Value, unsigned NumStaticEntries>
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Value* Map<Key, Value, NumStaticEntries>::access(const Key& key)
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{
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assert(!(key == Key()));
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KVPair* const kv = find(key);
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return kv ? &kv->value : NULL;
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}
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template <typename Key, typename Value, unsigned NumStaticEntries>
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Value* Map<Key, Value, NumStaticEntries>::insert(const Key& key, const Value& value)
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{
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assert(!(key == Key()));
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remove(key);
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KVPair* const kv = find(Key());
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if (kv)
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{
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*kv = KVPair(key, value);
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return &kv->value;
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}
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KVGroup* const kvg = KVGroup::instantiate(allocator_);
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if (kvg == NULL)
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{
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return NULL;
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}
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list_.insert(kvg);
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kvg->kvs[0] = KVPair(key, value);
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return &kvg->kvs[0].value;
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}
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void removeAll()
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template <typename Key, typename Value, unsigned NumStaticEntries>
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void Map<Key, Value, NumStaticEntries>::remove(const Key& key)
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{
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assert(!(key == Key()));
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KVPair* const kv = find(key);
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if (kv)
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{
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removeWhere(YesPredicate());
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*kv = KVPair();
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optimizeStorage();
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compact();
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}
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}
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template <typename Key, typename Value, unsigned NumStaticEntries>
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template <typename Predicate>
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void Map<Key, Value, NumStaticEntries>::removeWhere(Predicate predicate)
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{
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unsigned num_removed = 0;
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for (unsigned i = 0; i < NumStaticEntries; i++)
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{
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if (!static_[i].match(Key()))
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{
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if (predicate(static_[i].key, static_[i].value))
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{
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num_removed++;
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static_[i] = KVPair();
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}
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}
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}
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bool isEmpty() const { return (getNumStaticPairs() == 0) && (getNumDynamicPairs() == 0); }
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/// For testing
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unsigned getNumStaticPairs() const
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KVGroup* p = list_.get();
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while (p)
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{
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unsigned num = 0;
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for (unsigned i = 0; i < NumStaticEntries; i++)
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for (int i = 0; i < KVGroup::NumKV; i++)
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{
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if (!static_[i].match(Key()))
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const KVPair* const kv = p->kvs + i;
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if (!kv->match(Key()))
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{
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if (predicate(kv->key, kv->value))
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{
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num_removed++;
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p->kvs[i] = KVPair();
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}
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}
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}
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p = p->getNextListNode();
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}
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if (num_removed > 0)
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{
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optimizeStorage();
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compact();
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}
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}
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template <typename Key, typename Value, unsigned NumStaticEntries>
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template <typename Predicate>
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const Key* Map<Key, Value, NumStaticEntries>::findFirstKey(Predicate predicate) const
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{
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for (unsigned i = 0; i < NumStaticEntries; i++)
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{
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if (!static_[i].match(Key()))
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{
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if (predicate(static_[i].key, static_[i].value))
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{
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return &static_[i].key;
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}
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}
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}
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KVGroup* p = list_.get();
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while (p)
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{
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for (int i = 0; i < KVGroup::NumKV; i++)
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{
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const KVPair* const kv = p->kvs + i;
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if (!kv->match(Key()))
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{
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if (predicate(kv->key, kv->value))
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{
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return &p->kvs[i].key;
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}
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}
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}
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p = p->getNextListNode();
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}
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return NULL;
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}
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template <typename Key, typename Value, unsigned NumStaticEntries>
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void Map<Key, Value, NumStaticEntries>::removeAll()
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{
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removeWhere(YesPredicate());
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}
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template <typename Key, typename Value, unsigned NumStaticEntries>
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bool Map<Key, Value, NumStaticEntries>::isEmpty() const
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{
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return (getNumStaticPairs() == 0) && (getNumDynamicPairs() == 0);
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}
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template <typename Key, typename Value, unsigned NumStaticEntries>
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unsigned Map<Key, Value, NumStaticEntries>::getNumStaticPairs() const
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{
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unsigned num = 0;
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for (unsigned i = 0; i < NumStaticEntries; i++)
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{
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if (!static_[i].match(Key()))
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{
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num++;
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}
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}
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return num;
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}
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template <typename Key, typename Value, unsigned NumStaticEntries>
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unsigned Map<Key, Value, NumStaticEntries>::getNumDynamicPairs() const
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{
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unsigned num = 0;
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KVGroup* p = list_.get();
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while (p)
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{
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for (int i = 0; i < KVGroup::NumKV; i++)
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{
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const KVPair* const kv = p->kvs + i;
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if (!kv->match(Key()))
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{
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num++;
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}
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}
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return num;
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p = p->getNextListNode();
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}
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/// For testing
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unsigned getNumDynamicPairs() const
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{
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unsigned num = 0;
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KVGroup* p = list_.get();
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while (p)
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{
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for (int i = 0; i < KVGroup::NumKV; i++)
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{
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const KVPair* const kv = p->kvs + i;
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if (!kv->match(Key()))
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{
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num++;
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}
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}
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p = p->getNextListNode();
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}
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return num;
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}
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};
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return num;
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}
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}
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