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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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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/node.hpp
+4 -19
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@@ -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_)
{