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Node<> and SubNode<> support custom allocators

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This commit is contained in:
Pavel Kirienko 2015-10-14 21:36:13 +03:00
parent 23352746cd
commit d1511bed5c
2 changed files with 68 additions and 28 deletions
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64
libuavcan/include/uavcan/node/node.hpp
View File

@ -30,21 +30,18 @@ namespace uavcan
* This is the top-level node API.
* A custom node class can be implemented if needed, in which case it shall inherit INode.
*
* @tparam MemPoolSize_ Size of memory pool for this node, in bytes.
* Minimum recommended size is 4K * (number of CAN ifaces + 1).
* For simple nodes this number can be reduced.
* For high-traffic nodes the recommended minimum is
* like 16K * (number of CAN ifaces + 1).
* @tparam MemPoolSize Size of memory pool for this node, in bytes.
* Please refer to the documentation for details.
* If this value is zero, the constructor will accept a reference to user-provided allocator.
*/
template <std::size_t MemPoolSize_>
template <std::size_t MemPoolSize>
class UAVCAN_EXPORT Node : public INode
{
enum
{
MemPoolSize = (MemPoolSize_ < std::size_t(MemPoolBlockSize)) ? std::size_t(MemPoolBlockSize) : MemPoolSize_
};
typedef PoolAllocator<MemPoolSize, MemPoolBlockSize> Allocator;
typedef typename
Select<(MemPoolSize > 0),
PoolAllocator<MemPoolSize, MemPoolBlockSize>, // If pool size is specified, use default allocator
IPoolAllocator& // Otherwise use reference to user-provided allocator
>::Result Allocator;
Allocator pool_allocator_;
Scheduler scheduler_;
@ -60,6 +57,12 @@ class UAVCAN_EXPORT Node : public INode
uint64_t internal_failure_cnt_;
bool started_;
void commonInit()
{
internal_failure_cnt_ = 0;
started_ = false;
}
protected:
virtual void registerInternalFailure(const char* msg)
{
@ -73,20 +76,43 @@ protected:
}
public:
Node(ICanDriver& can_driver, ISystemClock& system_clock)
: scheduler_(can_driver, pool_allocator_, system_clock)
, proto_nsp_(*this)
/**
* This overload is only valid if MemPoolSize > 0.
*/
Node(ICanDriver& can_driver,
ISystemClock& system_clock) :
scheduler_(can_driver, pool_allocator_, system_clock),
proto_nsp_(*this)
#if !UAVCAN_TINY
, proto_dtp_(*this)
, proto_logger_(*this)
, proto_rrs_(*this)
, proto_tsp_(*this)
#endif
, internal_failure_cnt_(0)
, started_(false)
{ }
{
commonInit();
}
virtual Allocator& getAllocator() { return pool_allocator_; }
/**
* This overload is only valid if MemPoolSize == 0.
*/
Node(ICanDriver& can_driver,
ISystemClock& system_clock,
IPoolAllocator& allocator) :
pool_allocator_(allocator),
scheduler_(can_driver, pool_allocator_, system_clock),
proto_nsp_(*this)
#if !UAVCAN_TINY
, proto_dtp_(*this)
, proto_logger_(*this)
, proto_rrs_(*this)
, proto_tsp_(*this)
#endif
{
commonInit();
}
virtual typename RemoveReference<Allocator>::Type& getAllocator() { return pool_allocator_; }
virtual Scheduler& getScheduler() { return scheduler_; }
virtual const Scheduler& getScheduler() const { return scheduler_; }

32
libuavcan/include/uavcan/node/sub_node.hpp
View File

@ -20,15 +20,14 @@ 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_>
template <std::size_t MemPoolSize>
class UAVCAN_EXPORT SubNode : public INode
{
enum
{
MemPoolSize = (MemPoolSize_ < std::size_t(MemPoolBlockSize)) ? std::size_t(MemPoolBlockSize) : MemPoolSize_
};
typedef PoolAllocator<MemPoolSize, MemPoolBlockSize> Allocator;
typedef typename
Select<(MemPoolSize > 0),
PoolAllocator<MemPoolSize, MemPoolBlockSize>, // If pool size is specified, use default allocator
IPoolAllocator& // Otherwise use reference to user-provided allocator
>::Result Allocator;
Allocator pool_allocator_;
Scheduler scheduler_;
@ -44,12 +43,27 @@ protected:
}
public:
SubNode(ICanDriver& can_driver, ISystemClock& system_clock) :
/**
* This overload is only valid if MemPoolSize > 0.
*/
SubNode(ICanDriver& can_driver,
ISystemClock& system_clock) :
scheduler_(can_driver, pool_allocator_, system_clock),
internal_failure_cnt_(0)
{ }
virtual Allocator& getAllocator() { return pool_allocator_; }
/**
* This overload is only valid if MemPoolSize == 0.
*/
SubNode(ICanDriver& can_driver,
ISystemClock& system_clock,
IPoolAllocator& allocator) :
pool_allocator_(allocator),
scheduler_(can_driver, pool_allocator_, system_clock),
internal_failure_cnt_(0)
{ }
virtual typename RemoveReference<Allocator>::Type& getAllocator() { return pool_allocator_; }
virtual Scheduler& getScheduler() { return scheduler_; }
virtual const Scheduler& getScheduler() const { return scheduler_; }