allocator.hpp

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/**
 * @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 = ::enter_critical_section();
    ~AllocatorSynchronizer() { ::leave_critical_section(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) {
            PX4_ERR("UAVCAN LEAKS MEMORY: %u BLOCKS (%u BYTES) LOST",
                getNumAllocatedBlocks(), getNumAllocatedBlocks() * uavcan::MemPoolBlockSize);
        }
    }
};

}