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Code Issues Releases Activity

OP-286 UAVObjectManager memory usage: Since first element in linked list always

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exists, no need to store pointers to it, but put the structure for the first LL
object in the ObjectListStruct

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2560 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2011-01-24 07:51:20 +00:00 committed by peabody124
parent 3fc8169330
commit 95e7017674
1 changed files with 29 additions and 17 deletions
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46
flight/UAVObjects/uavobjectmanager.c
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@ -44,7 +44,7 @@ struct ObjectEventListStruct {
xQueueHandle queue;
UAVObjEventCallback cb;
int32_t eventMask;
struct ObjectEventListStruct* next;
struct ObjectEventListStruct* next;
};
typedef struct ObjectEventListStruct ObjectEventList;
@ -54,7 +54,7 @@ typedef struct ObjectEventListStruct ObjectEventList;
struct ObjectInstListStruct {
void* data;
uint16_t instId;
struct ObjectInstListStruct* next;
struct ObjectInstListStruct* next;
};
typedef struct ObjectInstListStruct ObjectInstList;
@ -70,9 +70,9 @@ struct ObjectListStruct {
uint16_t numBytes; /** Number of data bytes contained in the object (for a single instance) */
uint16_t numInstances; /** Number of instances */
struct ObjectListStruct* linkedObj; /** Linked object, for regular objects this is the metaobject and for metaobjects it is the parent object */
ObjectInstList* instances; /** List of object instances, instance 0 always exists */
ObjectInstList instances; /** List of object instances, instance 0 always exists */
ObjectEventList* events; /** Event queues registered on the object */
struct ObjectListStruct* next; /** Needed by linked list library (utlist.h) */
struct ObjectListStruct* next; /** Needed by linked list library (utlist.h) */
};
typedef struct ObjectListStruct ObjectList;
@ -196,7 +196,9 @@ UAVObjHandle UAVObjRegister(uint32_t id, const char* name, const char* metaName,
objEntry->numBytes = numBytes;
objEntry->events = NULL;
objEntry->numInstances = 0;
objEntry->instances = NULL;
objEntry->instances.data = NULL;
objEntry->instances.instId = 0xFFFF;
objEntry->instances.next = NULL;
objEntry->linkedObj = NULL; // will be set later
LL_APPEND(objList, objEntry);
@ -1028,7 +1030,7 @@ int32_t UAVObjSetInstanceData(UAVObjHandle obj, uint16_t instId, const void* dat
// Check access level
if ( !objEntry->isMetaobject )
{
mdata = (UAVObjMetadata*)(objEntry->linkedObj->instances->data);
mdata = (UAVObjMetadata*)(objEntry->linkedObj->instances.data);
if ( mdata->access == ACCESS_READONLY )
{
xSemaphoreGiveRecursive(mutex);
@ -1168,7 +1170,7 @@ int8_t UAVObjReadOnly(UAVObjHandle obj)
// Check access level
if ( !objEntry->isMetaobject )
{
mdata = (UAVObjMetadata*)(objEntry->linkedObj->instances->data);
mdata = (UAVObjMetadata*)(objEntry->linkedObj->instances.data);
return mdata->access == ACCESS_READONLY;
}
return -1;
@ -1319,7 +1321,7 @@ static int32_t sendEvent(ObjectList* obj, uint16_t instId, UAVObjEventType event
msg.instId = instId;
// Go through each object and push the event message in the queue (if event is activated for the queue)
LL_FOREACH(obj->events, eventEntry)
LL_FOREACH(obj->events, eventEntry)
{
if ( eventEntry->eventMask == 0 || (eventEntry->eventMask & event) != 0 )
{
@ -1381,14 +1383,24 @@ static ObjectInstList* createInstance(ObjectList* obj, uint16_t instId)
}
}
// Create the actual instance
instEntry = (ObjectInstList*)pvPortMalloc(sizeof(ObjectInstList));
if (instEntry == NULL) return NULL;
instEntry->data = pvPortMalloc(obj->numBytes);
if (instEntry->data == NULL) return NULL;
memset(instEntry->data, 0, obj->numBytes);
instEntry->instId = instId;
LL_APPEND(obj->instances, instEntry);
if(instId == 0) /* Instance 0 ObjectInstList allocated with ObjectList element */
{
instEntry = &obj->instances;
instEntry->data = pvPortMalloc(obj->numBytes);
if (instEntry->data == NULL) return NULL;
memset(instEntry->data, 0, obj->numBytes);
instEntry->instId = instId;
} else
{
// Create the actual instance
instEntry = (ObjectInstList*)pvPortMalloc(sizeof(ObjectInstList));
if (instEntry == NULL) return NULL;
instEntry->data = pvPortMalloc(obj->numBytes);
if (instEntry->data == NULL) return NULL;
memset(instEntry->data, 0, obj->numBytes);
instEntry->instId = instId;
LL_APPEND(obj->instances.next, instEntry);
}
++obj->numInstances;
// Fire event
@ -1406,7 +1418,7 @@ static ObjectInstList* getInstance(ObjectList* obj, uint16_t instId)
ObjectInstList* instEntry;
// Look for specified instance ID
LL_FOREACH(obj->instances, instEntry)
LL_FOREACH(&(obj->instances), instEntry)
{
if (instEntry->instId == instId)
{