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First stab at global refactoring of memory management - the library builds, but unit tests are failing horribly

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This commit is contained in:
Pavel Kirienko
2015-10-14 08:29:50 +03:00
parent 0643879922
commit be84897ed6
33 changed files with 203 additions and 756 deletions
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libuavcan/include/uavcan/node/generic_subscriber.hpp
+2 -11
View File
@@ -119,25 +119,16 @@ public:
* This helper class does some compile-time magic on the transport layer machinery. For authorized personnel only.
*/
template <typename DataStruct_,
unsigned NumStaticReceivers_,
unsigned NumStaticBufs_,
template<unsigned, unsigned, unsigned> class TransferListenerTemplate = TransferListener
template<unsigned> class TransferListenerTemplate = TransferListener
>
class UAVCAN_EXPORT TransferListenerInstantiationHelper
{
enum { DataTypeMaxByteLen = BitLenToByteLen<DataStruct_::MaxBitLen>::Result };
enum { NeedsBuffer = int(DataTypeMaxByteLen) > int(GuaranteedPayloadLenPerFrame) };
enum { BufferSize = NeedsBuffer ? DataTypeMaxByteLen : 0 };
#if UAVCAN_TINY
enum { NumStaticBufs = 0 };
enum { NumStaticReceivers = 0 };
#else
enum { NumStaticBufs = NeedsBuffer ? NumStaticBufs_: 0 };
enum { NumStaticReceivers = NumStaticReceivers_ };
#endif
public:
typedef TransferListenerTemplate<BufferSize, NumStaticBufs, NumStaticReceivers> Type;
typedef TransferListenerTemplate<BufferSize> Type;
};
/**
libuavcan/include/uavcan/node/node.hpp
+4 -19
View File
@@ -35,22 +35,8 @@ namespace uavcan
* For simple nodes this number can be reduced.
* For high-traffic nodes the recommended minimum is
* like 16K * (number of CAN ifaces + 1).
*
* @tparam OutgoingTransferRegistryStaticEntries Number of statically allocated objects
* to track Transfer ID for outgoing transfers.
* Normally it should be equal to expected number of
* publishers and service callers, but it's not necessary.
* Additional objects for Transfer ID tracking will
* be allocated in the memory pool if needed.
* Default value is acceptable for any use case.
*/
template <std::size_t MemPoolSize_,
#if UAVCAN_TINY
unsigned OutgoingTransferRegistryStaticEntries = 0
#else
unsigned OutgoingTransferRegistryStaticEntries = 10
#endif
>
template <std::size_t MemPoolSize_>
class UAVCAN_EXPORT Node : public INode
{
enum
@@ -61,7 +47,7 @@ class UAVCAN_EXPORT Node : public INode
typedef PoolAllocator<MemPoolSize, MemPoolBlockSize> Allocator;
Allocator pool_allocator_;
OutgoingTransferRegistry<OutgoingTransferRegistryStaticEntries> outgoing_trans_reg_;
OutgoingTransferRegistry outgoing_trans_reg_;
Scheduler scheduler_;
NodeStatusProvider proto_nsp_;
@@ -260,9 +246,8 @@ public:
// ----------------------------------------------------------------------------
template <std::size_t MemPoolSize_, unsigned OutgoingTransferRegistryStaticEntries>
int Node<MemPoolSize_, OutgoingTransferRegistryStaticEntries>::start(
const TransferPriority priority)
template <std::size_t MemPoolSize_>
int Node<MemPoolSize_>::start(const TransferPriority priority)
{
if (started_)
{
libuavcan/include/uavcan/node/service_client.hpp
+30 -42
View File
@@ -21,13 +21,11 @@
namespace uavcan
{
template <typename ServiceDataType, unsigned NumStaticReceiversAndBuffers>
template <typename ServiceDataType>
class UAVCAN_EXPORT ServiceResponseTransferListenerInstantiationHelper
{
public: // so much templating it hurts
public:
typedef typename TransferListenerInstantiationHelper<typename ServiceDataType::Response,
NumStaticReceiversAndBuffers,
NumStaticReceiversAndBuffers,
TransferListenerWithFilter>::Type Type;
};
@@ -217,24 +215,18 @@ public:
* In C++11 mode this type defaults to std::function<>.
* In C++03 mode this type defaults to a plain function pointer; use binder to
* call member functions as callbacks.
*
* @tparam NumStaticCalls_ Number of concurrent calls that the class will be able to handle without using the
* memory pool. Note that this is NOT the maximum possible number of concurrent calls,
* there's no such limit. Defaults to one.
*/
template <typename DataType_,
#if UAVCAN_CPP_VERSION >= UAVCAN_CPP11
typename Callback_ = std::function<void (const ServiceCallResult<DataType_>&)>,
typename Callback_ = std::function<void (const ServiceCallResult<DataType_>&)>
#else
typename Callback_ = void (*)(const ServiceCallResult<DataType_>&),
typename Callback_ = void (*)(const ServiceCallResult<DataType_>&)
#endif
unsigned NumStaticCalls_ = 1
>
class UAVCAN_EXPORT ServiceClient
: public GenericSubscriber<DataType_,
typename DataType_::Response,
typename ServiceResponseTransferListenerInstantiationHelper<DataType_,
NumStaticCalls_>::Type>
typename ServiceResponseTransferListenerInstantiationHelper<DataType_>::Type>
, public ServiceClientBase
{
public:
@@ -244,16 +236,13 @@ public:
typedef ServiceCallResult<DataType> ServiceCallResultType;
typedef Callback_ Callback;
enum { NumStaticCalls = NumStaticCalls_ };
private:
typedef ServiceClient<DataType, Callback> SelfType;
typedef GenericPublisher<DataType, RequestType> PublisherType;
typedef typename ServiceResponseTransferListenerInstantiationHelper<DataType, NumStaticCalls>::Type
TransferListenerType;
typedef typename ServiceResponseTransferListenerInstantiationHelper<DataType>::Type TransferListenerType;
typedef GenericSubscriber<DataType, ResponseType, TransferListenerType> SubscriberType;
typedef Multiset<CallState, NumStaticCalls> CallRegistry;
typedef Multiset<CallState> CallRegistry;
struct TimeoutCallbackCaller
{
@@ -424,8 +413,8 @@ public:
// ----------------------------------------------------------------------------
template <typename DataType_, typename Callback_, unsigned NumStaticCalls_>
void ServiceClient<DataType_, Callback_, NumStaticCalls_>::invokeCallback(ServiceCallResultType& result)
template <typename DataType_, typename Callback_>
void ServiceClient<DataType_, Callback_>::invokeCallback(ServiceCallResultType& result)
{
if (coerceOrFallback<bool>(callback_, true))
{
@@ -437,8 +426,8 @@ void ServiceClient<DataType_, Callback_, NumStaticCalls_>::invokeCallback(Servic
}
}
template <typename DataType_, typename Callback_, unsigned NumStaticCalls_>
bool ServiceClient<DataType_, Callback_, NumStaticCalls_>::shouldAcceptFrame(const RxFrame& frame) const
template <typename DataType_, typename Callback_>
bool ServiceClient<DataType_, Callback_>::shouldAcceptFrame(const RxFrame& frame) const
{
UAVCAN_ASSERT(frame.getTransferType() == TransferTypeServiceResponse); // Other types filtered out by dispatcher
@@ -447,9 +436,8 @@ bool ServiceClient<DataType_, Callback_, NumStaticCalls_>::shouldAcceptFrame(con
}
template <typename DataType_, typename Callback_, unsigned NumStaticCalls_>
void ServiceClient<DataType_, Callback_, NumStaticCalls_>::
handleReceivedDataStruct(ReceivedDataStructure<ResponseType>& response)
template <typename DataType_, typename Callback_>
void ServiceClient<DataType_, Callback_>::handleReceivedDataStruct(ReceivedDataStructure<ResponseType>& response)
{
UAVCAN_ASSERT(response.getTransferType() == TransferTypeServiceResponse);
@@ -460,8 +448,8 @@ handleReceivedDataStruct(ReceivedDataStructure<ResponseType>& response)
}
template <typename DataType_, typename Callback_, unsigned NumStaticCalls_>
void ServiceClient<DataType_, Callback_, NumStaticCalls_>::handleDeadline(MonotonicTime)
template <typename DataType_, typename Callback_>
void ServiceClient<DataType_, Callback_>::handleDeadline(MonotonicTime)
{
UAVCAN_TRACE("ServiceClient", "Shared deadline event received");
/*
@@ -484,8 +472,8 @@ void ServiceClient<DataType_, Callback_, NumStaticCalls_>::handleDeadline(Monoto
}
}
template <typename DataType_, typename Callback_, unsigned NumStaticCalls_>
int ServiceClient<DataType_, Callback_, NumStaticCalls_>::addCallState(ServiceCallID call_id)
template <typename DataType_, typename Callback_>
int ServiceClient<DataType_, Callback_>::addCallState(ServiceCallID call_id)
{
if (call_registry_.isEmpty())
{
@@ -507,16 +495,16 @@ int ServiceClient<DataType_, Callback_, NumStaticCalls_>::addCallState(ServiceCa
return 0;
}
template <typename DataType_, typename Callback_, unsigned NumStaticCalls_>
int ServiceClient<DataType_, Callback_, NumStaticCalls_>::call(NodeID server_node_id, const RequestType& request)
template <typename DataType_, typename Callback_>
int ServiceClient<DataType_, Callback_>::call(NodeID server_node_id, const RequestType& request)
{
ServiceCallID dummy;
return call(server_node_id, request, dummy);
}
template <typename DataType_, typename Callback_, unsigned NumStaticCalls_>
int ServiceClient<DataType_, Callback_, NumStaticCalls_>::call(NodeID server_node_id, const RequestType& request,
ServiceCallID& out_call_id)
template <typename DataType_, typename Callback_>
int ServiceClient<DataType_, Callback_>::call(NodeID server_node_id, const RequestType& request,
ServiceCallID& out_call_id)
{
if (!coerceOrFallback<bool>(callback_, true))
{
@@ -573,8 +561,8 @@ int ServiceClient<DataType_, Callback_, NumStaticCalls_>::call(NodeID server_nod
return publisher_res;
}
template <typename DataType_, typename Callback_, unsigned NumStaticCalls_>
void ServiceClient<DataType_, Callback_, NumStaticCalls_>::cancelCall(ServiceCallID call_id)
template <typename DataType_, typename Callback_>
void ServiceClient<DataType_, Callback_>::cancelCall(ServiceCallID call_id)
{
call_registry_.removeFirstWhere(CallStateMatchingPredicate(call_id));
if (call_registry_.isEmpty())
@@ -583,21 +571,21 @@ void ServiceClient<DataType_, Callback_, NumStaticCalls_>::cancelCall(ServiceCal
}
}
template <typename DataType_, typename Callback_, unsigned NumStaticCalls_>
void ServiceClient<DataType_, Callback_, NumStaticCalls_>::cancelAllCalls()
template <typename DataType_, typename Callback_>
void ServiceClient<DataType_, Callback_>::cancelAllCalls()
{
call_registry_.clear();
SubscriberType::stop();
}
template <typename DataType_, typename Callback_, unsigned NumStaticCalls_>
bool ServiceClient<DataType_, Callback_, NumStaticCalls_>::hasPendingCallToServer(NodeID server_node_id) const
template <typename DataType_, typename Callback_>
bool ServiceClient<DataType_, Callback_>::hasPendingCallToServer(NodeID server_node_id) const
{
return NULL != call_registry_.find(ServerSearchPredicate(server_node_id));
}
template <typename DataType_, typename Callback_, unsigned NumStaticCalls_>
ServiceCallID ServiceClient<DataType_, Callback_, NumStaticCalls_>::getCallIDByIndex(unsigned index) const
template <typename DataType_, typename Callback_>
ServiceCallID ServiceClient<DataType_, Callback_>::getCallIDByIndex(unsigned index) const
{
const CallState* const id = call_registry_.getByIndex(index);
return (id == NULL) ? ServiceCallID() : id->getCallID();
libuavcan/include/uavcan/node/service_server.hpp
+4 -19
View File
@@ -77,33 +77,19 @@ public:
* In C++11 mode this type defaults to std::function<>.
* In C++03 mode this type defaults to a plain function pointer; use binder to
* call member functions as callbacks.
*
* @tparam NumStaticReceivers Number of statically allocated receiver objects. If there's more service
* clients for this service, extra receivers will be allocated in the memory pool.
*
* @tparam NumStaticBufs Number of statically allocated receiver buffers. If there's more concurrent
* incoming transfers, extra buffers will be allocated in the memory pool.
*/
template <typename DataType_,
#if UAVCAN_CPP_VERSION >= UAVCAN_CPP11
typename Callback_ = std::function<void (const ReceivedDataStructure<typename DataType_::Request>&,
ServiceResponseDataStructure<typename DataType_::Response>&)>,
ServiceResponseDataStructure<typename DataType_::Response>&)>
#else
typename Callback_ = void (*)(const ReceivedDataStructure<typename DataType_::Request>&,
ServiceResponseDataStructure<typename DataType_::Response>&),
#endif
#if UAVCAN_TINY
unsigned NumStaticReceivers = 0,
unsigned NumStaticBufs = 0
#else
unsigned NumStaticReceivers = 2,
unsigned NumStaticBufs = 1
ServiceResponseDataStructure<typename DataType_::Response>&)
#endif
>
class UAVCAN_EXPORT ServiceServer
: public GenericSubscriber<DataType_, typename DataType_::Request,
typename TransferListenerInstantiationHelper<typename DataType_::Request,
NumStaticReceivers, NumStaticBufs>::Type>
typename TransferListenerInstantiationHelper<typename DataType_::Request>::Type>
{
public:
typedef DataType_ DataType;
@@ -112,8 +98,7 @@ public:
typedef Callback_ Callback;
private:
typedef typename TransferListenerInstantiationHelper<RequestType, NumStaticReceivers, NumStaticBufs>::Type
TransferListenerType;
typedef typename TransferListenerInstantiationHelper<RequestType>::Type TransferListenerType;
typedef GenericSubscriber<DataType, RequestType, TransferListenerType> SubscriberType;
typedef GenericPublisher<DataType, ResponseType> PublisherType;
libuavcan/include/uavcan/node/sub_node.hpp
+2 -4
View File
@@ -20,9 +20,7 @@ namespace uavcan
* Please refer to the @ref Node<> for documentation concerning the template arguments; refer to the tutorials
* to lean how to use libuavcan in multiprocess applications.
*/
template <std::size_t MemPoolSize_,
unsigned OutgoingTransferRegistryStaticEntries = 10
>
template <std::size_t MemPoolSize_>
class UAVCAN_EXPORT SubNode : public INode
{
enum
@@ -33,7 +31,7 @@ class UAVCAN_EXPORT SubNode : public INode
typedef PoolAllocator<MemPoolSize, MemPoolBlockSize> Allocator;
Allocator pool_allocator_;
OutgoingTransferRegistry<OutgoingTransferRegistryStaticEntries> outgoing_trans_reg_;
OutgoingTransferRegistry outgoing_trans_reg_;
Scheduler scheduler_;
uint64_t internal_failure_cnt_;
libuavcan/include/uavcan/node/subscriber.hpp
+4 -19
View File
@@ -34,38 +34,23 @@ namespace uavcan
* In C++11 mode this type defaults to std::function<>.
* In C++03 mode this type defaults to a plain function pointer; use binder to
* call member functions as callbacks.
*
* @tparam NumStaticReceivers Number of statically allocated receiver objects. If there's more publishers
* of this message, extra receivers will be allocated in the memory pool.
*
* @tparam NumStaticBufs Number of statically allocated receiver buffers. If there's more concurrent
* incoming transfers, extra buffers will be allocated in the memory pool.
*/
template <typename DataType_,
#if UAVCAN_CPP_VERSION >= UAVCAN_CPP11
typename Callback_ = std::function<void (const ReceivedDataStructure<DataType_>&)>,
typename Callback_ = std::function<void (const ReceivedDataStructure<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
typename Callback_ = void (*)(const ReceivedDataStructure<DataType_>&)
#endif
>
class UAVCAN_EXPORT Subscriber
: public GenericSubscriber<DataType_, DataType_,
typename TransferListenerInstantiationHelper<DataType_, NumStaticReceivers,
NumStaticBufs>::Type>
typename TransferListenerInstantiationHelper<DataType_>::Type>
{
public:
typedef Callback_ Callback;
private:
typedef typename TransferListenerInstantiationHelper<DataType_, NumStaticReceivers, NumStaticBufs>::Type
TransferListenerType;
typedef typename TransferListenerInstantiationHelper<DataType_>::Type TransferListenerType;
typedef GenericSubscriber<DataType_, DataType_, TransferListenerType> BaseType;
Callback callback_;