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

src/modules/uavcan/allocator.hpp

@@ -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);
+	        }
+	}
+};
+
+}

src/modules/uavcan/uavcan_main.cpp

@@ -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),

src/modules/uavcan/uavcan_main.hpp

@@ -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
+	uavcan_node::Allocator _pool_allocator;
-	{
-		const ::irqstate_t state = ::irqsave();
-		~MemoryPoolSynchronizer() { ::irqrestore(state); }
-	};
-
-	uavcan::HeapBasedPoolAllocator<uavcan::MemPoolBlockSize, MemoryPoolSynchronizer> _pool_allocator;
 
 	uavcan::Node<>		_node;				///< library instance
 	pthread_mutex_t		_node_mutex;