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