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New CanardMemoryResource memory API (#234)
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For issue #225 , currently it is done mostly for TX pipeline. RX related
changes will be next.

Introduced new memory related types:
- `CanardMemoryAllocate`
- `CanardMemoryDeallocate`
- `CanardMemoryDeleter`
- `CanardMemoryResource`

Also:
- prepare 4.0 semantic version
- fix potential memory leak in tests
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@serges147
serges147 authored Nov 19, 2024
1 parent 1b318b3 commit 5076702
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Showing 7 changed files with 133 additions and 91 deletions.
2 changes: 1 addition & 1 deletion .github/workflows/main.yml
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Expand Up @@ -195,7 +195,7 @@ jobs:
--define sonar.sources=libcanard
--define sonar.exclusions=libcanard/_canard_cavl.h
--define sonar.cfamily.gcov.reportsPath=.
--define sonar.cfamily.build-wrapper-output="${{ env.BUILD_WRAPPER_OUT_DIR }}"
--define sonar.cfamily.compile-commands="${{ env.BUILD_WRAPPER_OUT_DIR }}/compile_commands.json"
--define sonar.host.url="${{ env.SONAR_SERVER_URL }}"
- uses: actions/upload-artifact@v3
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3 changes: 3 additions & 0 deletions README.md
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Expand Up @@ -57,6 +57,9 @@ reused in the target application to speed up the design of the media IO layer (d

## Example

## TODO: Update to show how to use the new sized de-allocations, and how not to confuse payload_size and allocated_size.
☝ todo will be addressed as soon as the new API is stable (tx, rx, and "zero copy" aspects).

The example augments the documentation but does not replace it.

The library requires a constant-complexity deterministic dynamic memory allocator.
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55 changes: 27 additions & 28 deletions libcanard/canard.c
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Original file line number Diff line number Diff line change
Expand Up @@ -296,15 +296,15 @@ CANARD_PRIVATE size_t txRoundFramePayloadSizeUp(const size_t x)
}

/// The item is only allocated and initialized, but NOT included into the queue! The caller needs to do that.
CANARD_PRIVATE TxItem* txAllocateQueueItem(CanardInstance* const ins,
CANARD_PRIVATE TxItem* txAllocateQueueItem(CanardTxQueue* const que,
const uint32_t id,
const CanardMicrosecond deadline_usec,
const size_t payload_size)
{
CANARD_ASSERT(ins != NULL);
CANARD_ASSERT(que != NULL);
CANARD_ASSERT(payload_size > 0U);
const size_t tx_item_size = (sizeof(TxItem) - CANARD_MTU_MAX) + payload_size;
TxItem* const out = (TxItem*) ins->memory_allocate(ins, tx_item_size);
TxItem* const out = (TxItem*) que->memory.allocate(que->memory.user_reference, tx_item_size);
if (out != NULL)
{
out->base.allocated_size = tx_item_size;
Expand Down Expand Up @@ -338,22 +338,21 @@ CANARD_PRIVATE int8_t txAVLPredicate(void* const user_reference, // NOSONAR Cav

/// Returns the number of frames enqueued or error (i.e., =1 or <0).
CANARD_PRIVATE int32_t txPushSingleFrame(CanardTxQueue* const que,
CanardInstance* const ins,
const CanardMicrosecond deadline_usec,
const uint32_t can_id,
const CanardTransferID transfer_id,
const size_t payload_size,
const void* const payload)
{
CANARD_ASSERT(ins != NULL);
CANARD_ASSERT(que != NULL);
CANARD_ASSERT((payload != NULL) || (payload_size == 0));
const size_t frame_payload_size = txRoundFramePayloadSizeUp(payload_size + 1U);
CANARD_ASSERT(frame_payload_size > payload_size);
const size_t padding_size = frame_payload_size - payload_size - 1U;
CANARD_ASSERT((padding_size + payload_size + 1U) == frame_payload_size);
int32_t out = 0;
TxItem* const tqi =
(que->size < que->capacity) ? txAllocateQueueItem(ins, can_id, deadline_usec, frame_payload_size) : NULL;
(que->size < que->capacity) ? txAllocateQueueItem(que, can_id, deadline_usec, frame_payload_size) : NULL;
if (tqi != NULL)
{
if (payload_size > 0U) // The check is needed to avoid calling memcpy() with a NULL pointer, it's an UB.
Expand Down Expand Up @@ -384,15 +383,15 @@ CANARD_PRIVATE int32_t txPushSingleFrame(CanardTxQueue* const que,
}

/// Produces a chain of Tx queue items for later insertion into the Tx queue. The tail is NULL if OOM.
CANARD_PRIVATE TxChain txGenerateMultiFrameChain(CanardInstance* const ins,
CANARD_PRIVATE TxChain txGenerateMultiFrameChain(CanardTxQueue* const que,
const size_t presentation_layer_mtu,
const CanardMicrosecond deadline_usec,
const uint32_t can_id,
const CanardTransferID transfer_id,
const size_t payload_size,
const void* const payload)
{
CANARD_ASSERT(ins != NULL);
CANARD_ASSERT(que != NULL);
CANARD_ASSERT(presentation_layer_mtu > 0U);
CANARD_ASSERT(payload_size > presentation_layer_mtu); // Otherwise, a single-frame transfer should be used.
CANARD_ASSERT(payload != NULL);
Expand All @@ -410,7 +409,7 @@ CANARD_PRIVATE TxChain txGenerateMultiFrameChain(CanardInstance* const ins,
((payload_size_with_crc - offset) < presentation_layer_mtu)
? txRoundFramePayloadSizeUp((payload_size_with_crc - offset) + 1U) // Padding in the last frame only.
: (presentation_layer_mtu + 1U);
TxItem* const tqi = txAllocateQueueItem(ins, can_id, deadline_usec, frame_payload_size_with_tail);
TxItem* const tqi = txAllocateQueueItem(que, can_id, deadline_usec, frame_payload_size_with_tail);
if (NULL == out.head)
{
out.head = tqi;
Expand Down Expand Up @@ -485,15 +484,14 @@ CANARD_PRIVATE TxChain txGenerateMultiFrameChain(CanardInstance* const ins,

/// Returns the number of frames enqueued or error.
CANARD_PRIVATE int32_t txPushMultiFrame(CanardTxQueue* const que,
CanardInstance* const ins,
const size_t presentation_layer_mtu,
const CanardMicrosecond deadline_usec,
const uint32_t can_id,
const CanardTransferID transfer_id,
const size_t payload_size,
const void* const payload)
{
CANARD_ASSERT((ins != NULL) && (que != NULL));
CANARD_ASSERT(que != NULL);
CANARD_ASSERT(presentation_layer_mtu > 0U);
CANARD_ASSERT(payload_size > presentation_layer_mtu); // Otherwise, a single-frame transfer should be used.

Expand All @@ -503,7 +501,7 @@ CANARD_PRIVATE int32_t txPushMultiFrame(CanardTxQueue* const que,
CANARD_ASSERT(num_frames >= 2);
if ((que->size + num_frames) <= que->capacity) // Bail early if we can see that we won't fit anyway.
{
const TxChain sq = txGenerateMultiFrameChain(ins,
const TxChain sq = txGenerateMultiFrameChain(que,
presentation_layer_mtu,
deadline_usec,
can_id,
Expand Down Expand Up @@ -535,7 +533,7 @@ CANARD_PRIVATE int32_t txPushMultiFrame(CanardTxQueue* const que,
while (head != NULL)
{
CanardTxQueueItem* const next = head->next_in_transfer;
ins->memory_free(ins, head, head->allocated_size);
que->memory.deallocate(que->memory.user_reference, head->allocated_size, head);
head = next;
}
}
Expand Down Expand Up @@ -698,7 +696,7 @@ CANARD_PRIVATE int8_t rxSessionWritePayload(CanardInstance* const ins,
if ((NULL == rxs->payload) && (extent > 0U))
{
CANARD_ASSERT(rxs->payload_size == 0);
rxs->payload = ins->memory_allocate(ins, extent);
rxs->payload = ins->memory.allocate(ins->memory.user_reference, extent);
}

int8_t out = 0;
Expand Down Expand Up @@ -738,7 +736,7 @@ CANARD_PRIVATE void rxSessionRestart(CanardInstance* const ins,
{
CANARD_ASSERT(ins != NULL);
CANARD_ASSERT(rxs != NULL);
ins->memory_free(ins, rxs->payload, allocated_size); // May be NULL, which is OK.
ins->memory.deallocate(ins->memory.user_reference, allocated_size, rxs->payload); // May be NULL, which is OK.
rxs->total_payload_size = 0U;
rxs->payload_size = 0U;
rxs->payload = NULL;
Expand Down Expand Up @@ -938,7 +936,8 @@ CANARD_PRIVATE int8_t rxAcceptFrame(CanardInstance* const ins,
if ((NULL == subscription->sessions[frame->source_node_id]) && frame->start_of_transfer)
{
CanardInternalRxSession* const rxs =
(CanardInternalRxSession*) ins->memory_allocate(ins, sizeof(CanardInternalRxSession));
(CanardInternalRxSession*) ins->memory.allocate(ins->memory.user_reference,
sizeof(CanardInternalRxSession));
subscription->sessions[frame->source_node_id] = rxs;
if (rxs != NULL)
{
Expand Down Expand Up @@ -977,7 +976,7 @@ CANARD_PRIVATE int8_t rxAcceptFrame(CanardInstance* const ins,
// independent of the input data and the memory shall be free-able.
const size_t payload_size =
(subscription->extent < frame->payload_size) ? subscription->extent : frame->payload_size;
void* const payload = ins->memory_allocate(ins, payload_size);
void* const payload = ins->memory.allocate(ins->memory.user_reference, payload_size);
if (payload != NULL)
{
rxInitTransferMetadataFromFrame(frame, &out_transfer->metadata);
Expand Down Expand Up @@ -1030,34 +1029,36 @@ const uint8_t CanardCANLengthToDLC[65] = {
15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, // 49-64
};

CanardInstance canardInit(const CanardMemoryAllocate memory_allocate, const CanardMemoryFree memory_free)
CanardInstance canardInit(const struct CanardMemoryResource memory)
{
CANARD_ASSERT(memory_allocate != NULL);
CANARD_ASSERT(memory_free != NULL);
CANARD_ASSERT(memory.allocate != NULL);
CANARD_ASSERT(memory.deallocate != NULL);
const CanardInstance out = {
.user_reference = NULL,
.node_id = CANARD_NODE_ID_UNSET,
.memory_allocate = memory_allocate,
.memory_free = memory_free,
.memory = memory,
.rx_subscriptions = {NULL, NULL, NULL},
};
return out;
}

CanardTxQueue canardTxInit(const size_t capacity, const size_t mtu_bytes)
CanardTxQueue canardTxInit(const size_t capacity, const size_t mtu_bytes, const struct CanardMemoryResource memory)
{
CANARD_ASSERT(memory.allocate != NULL);
CANARD_ASSERT(memory.deallocate != NULL);
CanardTxQueue out = {
.capacity = capacity,
.mtu_bytes = mtu_bytes,
.size = 0,
.root = NULL,
.memory = memory,
.user_reference = NULL,
};
return out;
}

int32_t canardTxPush(CanardTxQueue* const que,
CanardInstance* const ins,
const CanardInstance* const ins,
const CanardMicrosecond tx_deadline_usec,
const CanardTransferMetadata* const metadata,
const size_t payload_size,
Expand All @@ -1073,7 +1074,6 @@ int32_t canardTxPush(CanardTxQueue* const que,
if (payload_size <= pl_mtu)
{
out = txPushSingleFrame(que,
ins,
tx_deadline_usec,
(uint32_t) maybe_can_id,
metadata->transfer_id,
Expand All @@ -1084,7 +1084,6 @@ int32_t canardTxPush(CanardTxQueue* const que,
else
{
out = txPushMultiFrame(que,
ins,
pl_mtu,
tx_deadline_usec,
(uint32_t) maybe_can_id,
Expand Down Expand Up @@ -1245,9 +1244,9 @@ int8_t canardRxUnsubscribe(CanardInstance* const ins,
{
if (sub->sessions[i] != NULL)
{
ins->memory_free(ins, sub->sessions[i]->payload, sub->extent);
ins->memory.deallocate(ins->memory.user_reference, sub->extent, sub->sessions[i]->payload);
}
ins->memory_free(ins, sub->sessions[i], sizeof(*sub->sessions[i]));
ins->memory.deallocate(ins->memory.user_reference, sizeof(*sub->sessions[i]), sub->sessions[i]);
sub->sessions[i] = NULL;
}
}
Expand Down
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