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UAVCAN allocator as a dedicated type; reporting a warning if memory leak is deetcted upon destruction

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Pavel Kirienko 2015-10-17 03:24:59 +03:00 committed by Lorenz Meier
parent edfb19d9af
commit ca4e55fec3
3 changed files with 75 additions and 11 deletions
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73
src/modules/uavcan/allocator.hpp Normal file
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@ -0,0 +1,73 @@
/****************************************************************************
*
* Copyright (C) 2015 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @author Pavel Kirienko <pavel.kirienko@gmail.com>
*/
#pragma once
#include <systemlib/err.h>
#include <uavcan/uavcan.hpp>
#include <uavcan/helpers/heap_based_pool_allocator.hpp>
// TODO: Entire UAVCAN application should be moved into a namespace later; this is the first step.
namespace uavcan_node
{
struct AllocatorSynchronizer
{
const ::irqstate_t state = ::irqsave();
~AllocatorSynchronizer() { ::irqrestore(state); }
};
struct Allocator : public uavcan::HeapBasedPoolAllocator<uavcan::MemPoolBlockSize, AllocatorSynchronizer>
{
static constexpr unsigned CapacitySoftLimit = 250;
static constexpr unsigned CapacityHardLimit = 500;
Allocator() :
uavcan::HeapBasedPoolAllocator<uavcan::MemPoolBlockSize, AllocatorSynchronizer>(CapacitySoftLimit, CapacityHardLimit)
{ }
~Allocator()
{
if (getNumAllocatedBlocks() > 0)
{
warnx("UAVCAN LEAKS MEMORY: %u BLOCKS (%u BYTES) LOST",
getNumAllocatedBlocks(), getNumAllocatedBlocks() * uavcan::MemPoolBlockSize);
}
}
};
}

1
src/modules/uavcan/uavcan_main.cpp
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@ -77,7 +77,6 @@
UavcanNode *UavcanNode::_instance;
UavcanNode::UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &system_clock) :
CDev("uavcan", UAVCAN_DEVICE_PATH),
_pool_allocator(MemoryPoolBlockCapacitySoftLimit, MemoryPoolBlockCapacityHardLimit),
_node(can_driver, system_clock, _pool_allocator),
_node_mutex(),
_esc_controller(_node),

12
src/modules/uavcan/uavcan_main.hpp
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@ -56,6 +56,7 @@
#include "sensors/sensor_bridge.hpp"
#include "uavcan_servers.hpp"
#include "allocator.hpp"
/**
* @file uavcan_main.hpp
@ -96,9 +97,6 @@ class UavcanNode : public device::CDev
static constexpr unsigned RxQueueLenPerIface = FramePerMSecond * PollTimeoutMs; // At
static constexpr unsigned StackSize = 1800;
static constexpr unsigned MemoryPoolBlockCapacitySoftLimit = 250;
static constexpr unsigned MemoryPoolBlockCapacityHardLimit = 500;
public:
typedef uavcan_stm32::CanInitHelper<RxQueueLenPerIface> CanInitHelper;
enum eServerAction {None, Start, Stop, CheckFW , Busy};
@ -171,13 +169,7 @@ private:
static UavcanNode *_instance; ///< singleton pointer
struct MemoryPoolSynchronizer
{
const ::irqstate_t state = ::irqsave();
~MemoryPoolSynchronizer() { ::irqrestore(state); }
};
uavcan::HeapBasedPoolAllocator<uavcan::MemPoolBlockSize, MemoryPoolSynchronizer> _pool_allocator;
uavcan_node::Allocator _pool_allocator;
uavcan::Node<> _node; ///< library instance
pthread_mutex_t _node_mutex;