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

libuavcan/include/uavcan/transport/can_acceptance_filter_configurator.hpp

@@ -65,7 +65,7 @@ private:
     static const unsigned DefaultAnonMsgMask = 0xFF;
     static const unsigned DefaultAnonMsgID = 0x0;
 
-    typedef uavcan::Multiset<CanFilterConfig, 1> MultisetConfigContainer;
+    typedef uavcan::Multiset<CanFilterConfig> MultisetConfigContainer;
 
     static CanFilterConfig mergeFilters(CanFilterConfig &a_, CanFilterConfig &b_);
     static uint8_t countBits(uint32_t n_);

libuavcan/include/uavcan/transport/outgoing_transfer_registry.hpp

@@ -60,6 +60,8 @@ public:
  * Outgoing transfer registry keeps track of Transfer ID values for all currently existing local transfer senders.
  * If a local transfer sender was inactive for a sufficiently long time, the outgoing transfer registry will
  * remove the respective Transfer ID tracking object.
+ *
+ * TODO: Deinterface this.
  */
 class UAVCAN_EXPORT IOutgoingTransferRegistry
 {
@@ -74,7 +76,6 @@ public:
 };
 
 
-template <int NumStaticEntries>
 class UAVCAN_EXPORT OutgoingTransferRegistry : public IOutgoingTransferRegistry, Noncopyable
 {
     struct Value
@@ -123,7 +124,7 @@ class UAVCAN_EXPORT OutgoingTransferRegistry : public IOutgoingTransferRegistry,
         }
     };
 
-    Map<OutgoingTransferRegistryKey, Value, NumStaticEntries> map_;
+    Map<OutgoingTransferRegistryKey, Value> map_;
 
 public:
     explicit OutgoingTransferRegistry(IPoolAllocator& allocator)
@@ -140,11 +141,12 @@ public:
 // ----------------------------------------------------------------------------
 
 /*
- * OutgoingTransferRegistry<>
+ * OutgoingTransferRegistry
+ * TODO: deinterface and move to .cpp
  */
-template <int NumStaticEntries>
-TransferID* OutgoingTransferRegistry<NumStaticEntries>::accessOrCreate(const OutgoingTransferRegistryKey& key,
-                                                                       MonotonicTime new_deadline)
+inline
+TransferID* OutgoingTransferRegistry::accessOrCreate(const OutgoingTransferRegistryKey& key,
+                                                     MonotonicTime new_deadline)
 {
     UAVCAN_ASSERT(!new_deadline.isZero());
     Value* p = map_.access(key);
@@ -161,14 +163,14 @@ TransferID* OutgoingTransferRegistry<NumStaticEntries>::accessOrCreate(const Out
     return &p->tid;
 }
 
-template <int NumStaticEntries>
-bool OutgoingTransferRegistry<NumStaticEntries>::exists(DataTypeID dtid, TransferType tt) const
+inline
+bool OutgoingTransferRegistry::exists(DataTypeID dtid, TransferType tt) const
 {
     return NULL != map_.find(ExistenceCheckingPredicate(dtid, tt));
 }
 
-template <int NumStaticEntries>
-void OutgoingTransferRegistry<NumStaticEntries>::cleanup(MonotonicTime ts)
+inline
+void OutgoingTransferRegistry::cleanup(MonotonicTime ts)
 {
     map_.removeAllWhere(DeadlineExpiredPredicate(ts));
 }

libuavcan/include/uavcan/transport/transfer_buffer.hpp

@@ -194,8 +194,6 @@ public:
 
     virtual int read(unsigned offset, uint8_t* data, unsigned len) const;
     virtual int write(unsigned offset, const uint8_t* data, unsigned len);
-
-    bool migrateFrom(const TransferBufferManagerEntry* tbme);
 };
 
 template <uint16_t Size>
@@ -250,11 +248,7 @@ class TransferBufferManagerImpl : public ITransferBufferManager, Noncopyable
     IPoolAllocator& allocator_;
     const uint16_t max_buf_size_;
 
-    virtual StaticTransferBufferManagerEntryImpl* getStaticByIndex(uint16_t index) const = 0;
-
-    StaticTransferBufferManagerEntryImpl* findFirstStatic(const TransferBufferManagerKey& key);
     DynamicTransferBufferManagerEntry* findFirstDynamic(const TransferBufferManagerKey& key);
-    void optimizeStorage();
 
 public:
     TransferBufferManagerImpl(uint16_t max_buf_size, IPoolAllocator& allocator)
@@ -269,49 +263,20 @@ public:
     virtual void remove(const TransferBufferManagerKey& key);
     virtual bool isEmpty() const;
 
-    unsigned getNumDynamicBuffers() const;
-    unsigned getNumStaticBuffers() const;
-};
-
-template <uint16_t MaxBufSize, uint8_t NumStaticBufs>
-class UAVCAN_EXPORT TransferBufferManager : public TransferBufferManagerImpl
-{
-    mutable StaticTransferBufferManagerEntry<MaxBufSize> static_buffers_[NumStaticBufs];
-
-    virtual StaticTransferBufferManagerEntry<MaxBufSize>* getStaticByIndex(uint16_t index) const
-    {
-        return (index < NumStaticBufs) ? &static_buffers_[index] : NULL;
-    }
-
-public:
-    explicit 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();
-    }
+    unsigned getNumBuffers() const;
 };
 
 template <uint16_t MaxBufSize>
-class UAVCAN_EXPORT TransferBufferManager<MaxBufSize, 0> : public TransferBufferManagerImpl
+class UAVCAN_EXPORT TransferBufferManager : public TransferBufferManagerImpl
 {
-    virtual StaticTransferBufferManagerEntry<MaxBufSize>* getStaticByIndex(uint16_t) const
-    {
-        return NULL;
-    }
-
 public:
-    explicit TransferBufferManager(IPoolAllocator& allocator)
-        : TransferBufferManagerImpl(MaxBufSize, allocator)
-    {
-        StaticAssert<(MaxBufSize > 0)>::check();
-    }
+    explicit TransferBufferManager(IPoolAllocator& allocator) :
+        TransferBufferManagerImpl(MaxBufSize, allocator)
+    { }
 };
 
 template <>
-class UAVCAN_EXPORT TransferBufferManager<0, 0> : public ITransferBufferManager
+class UAVCAN_EXPORT TransferBufferManager<0> : public ITransferBufferManager
 {
 public:
     TransferBufferManager() { }

libuavcan/include/uavcan/transport/transfer_listener.hpp

@@ -99,7 +99,7 @@ public:
 class UAVCAN_EXPORT TransferListenerBase : public LinkedListNode<TransferListenerBase>, Noncopyable
 {
     const DataTypeDescriptor& data_type_;
-    MapBase<TransferBufferManagerKey, TransferReceiver>& receivers_;
+    Map<TransferBufferManagerKey, TransferReceiver>& receivers_;
     ITransferBufferManager& bufmgr_;
     TransferPerfCounter& perf_;
     const TransferCRC crc_base_;                      ///< Pre-initialized with data type hash, thus constant
@@ -123,7 +123,7 @@ class UAVCAN_EXPORT TransferListenerBase : public LinkedListNode<TransferListene
 
 protected:
     TransferListenerBase(TransferPerfCounter& perf, const DataTypeDescriptor& data_type,
-                         MapBase<TransferBufferManagerKey, TransferReceiver>& receivers,
+                         Map<TransferBufferManagerKey, TransferReceiver>& receivers,
                          ITransferBufferManager& bufmgr)
         : data_type_(data_type)
         , receivers_(receivers)
@@ -157,24 +157,18 @@ public:
 /**
  * This class should be derived by transfer receivers (subscribers, servers).
  */
-template <unsigned MaxBufSize, unsigned NumStaticBufs, unsigned NumStaticReceivers>
+template <unsigned MaxBufSize>
 class UAVCAN_EXPORT TransferListener : public TransferListenerBase
 {
-    TransferBufferManager<MaxBufSize, NumStaticBufs> bufmgr_;
-    Map<TransferBufferManagerKey, TransferReceiver, NumStaticReceivers> receivers_;
+    TransferBufferManager<MaxBufSize> bufmgr_;
+    Map<TransferBufferManagerKey, TransferReceiver> receivers_;
 
 public:
     TransferListener(TransferPerfCounter& perf, const DataTypeDescriptor& data_type, IPoolAllocator& allocator)
         : TransferListenerBase(perf, data_type, receivers_, bufmgr_)
         , 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
-    }
+    { }
 
     virtual ~TransferListener()
     {
@@ -200,15 +194,15 @@ public:
 /**
  * This class should be derived by callers.
  */
-template <unsigned MaxBufSize, unsigned NumStaticBufs, unsigned NumStaticReceivers>
-class UAVCAN_EXPORT TransferListenerWithFilter : public TransferListener<MaxBufSize, NumStaticBufs, NumStaticReceivers>
+template <unsigned MaxBufSize>
+class UAVCAN_EXPORT TransferListenerWithFilter : public TransferListener<MaxBufSize>
 {
     const ITransferAcceptanceFilter* filter_;
 
     virtual void handleFrame(const RxFrame& frame);
 
 public:
-    typedef TransferListener<MaxBufSize, NumStaticBufs, NumStaticReceivers> BaseType;
+    typedef TransferListener<MaxBufSize> BaseType;
 
     TransferListenerWithFilter(TransferPerfCounter& perf, const DataTypeDescriptor& data_type,
                                IPoolAllocator& allocator)
@@ -227,8 +221,8 @@ public:
 /*
  * TransferListenerWithFilter<>
  */
-template <unsigned MaxBufSize, unsigned NumStaticBufs, unsigned NumStaticReceivers>
-void TransferListenerWithFilter<MaxBufSize, NumStaticBufs, NumStaticReceivers>::handleFrame(const RxFrame& frame)
+template <unsigned MaxBufSize>
+void TransferListenerWithFilter<MaxBufSize>::handleFrame(const RxFrame& frame)
 {
     if (filter_ != NULL)
     {