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CAN TX queue quota - limiting max number of memory blocks per TX queue to avoid memory congestion if one iface is down

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This commit is contained in:
Pavel Kirienko
2014-04-12 18:11:30 +04:00
parent 3e4234e049
commit d801f4a7f3
4 changed files with 47 additions and 42 deletions
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libuavcan/include/uavcan/transport/can_io.hpp
+11 -24
View File
@@ -12,6 +12,7 @@
#include <uavcan/dynamic_memory.hpp>
#include <uavcan/impl_constants.hpp>
#include <uavcan/util/compile_time.hpp>
#include <uavcan/util/lazy_constructor.hpp>
#include <uavcan/driver/can.hpp>
#include <uavcan/driver/system_clock.hpp>
#include <uavcan/time.hpp>
@@ -87,21 +88,15 @@ private:
};
LinkedListRoot<Entry> queue_;
IPoolAllocator* const allocator_;
ISystemClock* const sysclock_;
LimitedPoolAllocator allocator_;
ISystemClock& sysclock_;
uint32_t rejected_frames_cnt_;
void registerRejectedFrame();
public:
CanTxQueue()
: allocator_(NULL)
, sysclock_(NULL)
, rejected_frames_cnt_(0)
{ }
CanTxQueue(IPoolAllocator* allocator, ISystemClock* sysclock)
: allocator_(allocator)
CanTxQueue(IPoolAllocator& allocator, ISystemClock& sysclock, std::size_t allocator_quota)
: allocator_(allocator, allocator_quota)
, sysclock_(sysclock)
, rejected_frames_cnt_(0)
{ }
@@ -151,29 +146,21 @@ class UAVCAN_EXPORT CanIOManager : Noncopyable
ICanDriver& driver_;
ISystemClock& sysclock_;
CanTxQueue tx_queues_[MaxCanIfaces];
LazyConstructor<CanTxQueue> tx_queues_[MaxCanIfaces];
IfaceFrameCounters counters_[MaxCanIfaces];
const uint8_t num_ifaces_;
int sendToIface(uint8_t iface_index, const CanFrame& frame, MonotonicTime tx_deadline, CanIOFlags flags);
int sendFromTxQueue(uint8_t iface_index);
uint8_t makePendingTxMask() const;
int callSelect(CanSelectMasks& inout_masks, MonotonicTime blocking_deadline);
public:
CanIOManager(ICanDriver& driver, IPoolAllocator& allocator, ISystemClock& sysclock)
: driver_(driver)
, sysclock_(sysclock)
{
assert(driver.getNumIfaces() <= MaxCanIfaces);
// We can't initialize member array with non-default constructors in C++03
for (int i = 0; i < MaxCanIfaces; i++)
{
tx_queues_[i].~CanTxQueue();
new (tx_queues_ + i) CanTxQueue(&allocator, &sysclock);
}
}
CanIOManager(ICanDriver& driver, IPoolAllocator& allocator, ISystemClock& sysclock,
std::size_t mem_blocks_per_iface = 0);
uint8_t getNumIfaces() const;
uint8_t getNumIfaces() const { return num_ifaces_; }
CanIfacePerfCounters getIfacePerfCounters(uint8_t iface_index) const;