diff options
Diffstat (limited to 'src/modules/dataman/dataman.c')
| -rw-r--r-- | src/modules/dataman/dataman.c | 52 |
1 files changed, 35 insertions, 17 deletions
diff --git a/src/modules/dataman/dataman.c b/src/modules/dataman/dataman.c index 7505ba358..1a65313e8 100644 --- a/src/modules/dataman/dataman.c +++ b/src/modules/dataman/dataman.c @@ -1,10 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2013 PX4 Development Team. All rights reserved. - * Author: Jean Cyr - * Lorenz Meier - * Julian Oes - * Thomas Gubler + * Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -37,6 +33,11 @@ /** * @file dataman.c * DATAMANAGER driver. + * + * @author Jean Cyr + * @author Lorenz Meier + * @author Julian Oes + * @author Thomas Gubler */ #include <nuttx/config.h> @@ -62,7 +63,7 @@ __EXPORT ssize_t dm_write(dm_item_t item, unsigned char index, dm_persitence_t __EXPORT int dm_clear(dm_item_t item); __EXPORT int dm_restart(dm_reset_reason restart_type); -/* Types of function calls supported by the worker task */ +/** Types of function calls supported by the worker task */ typedef enum { dm_write_func = 0, dm_read_func, @@ -71,11 +72,12 @@ typedef enum { dm_number_of_funcs } dm_function_t; -/* Work task work item */ +/** Work task work item */ typedef struct { sq_entry_t link; /**< list linkage */ sem_t wait_sem; - dm_function_t func; + unsigned char first; + unsigned char func; ssize_t result; union { struct { @@ -100,6 +102,8 @@ typedef struct { }; } work_q_item_t; +const size_t k_work_item_allocation_chunk_size = 8; + /* Usage statistics */ static unsigned g_func_counts[dm_number_of_funcs]; @@ -177,9 +181,23 @@ create_work_item(void) unlock_queue(&g_free_q); - /* If we there weren't any free items then obtain memory for a new one */ - if (item == NULL) - item = (work_q_item_t *)malloc(sizeof(work_q_item_t)); + /* If we there weren't any free items then obtain memory for a new ones */ + if (item == NULL) { + item = (work_q_item_t *)malloc(k_work_item_allocation_chunk_size * sizeof(work_q_item_t)); + if (item) { + item->first = 1; + lock_queue(&g_free_q); + for (int i = 1; i < k_work_item_allocation_chunk_size; i++) { + (item + i)->first = 0; + sq_addfirst(&(item + i)->link, &(g_free_q.q)); + } + /* Update the queue size and potentially the maximum queue size */ + g_free_q.size += k_work_item_allocation_chunk_size - 1; + if (g_free_q.size > g_free_q.max_size) + g_free_q.max_size = g_free_q.size; + unlock_queue(&g_free_q); + } + } /* If we got one then lock the item*/ if (item) @@ -411,7 +429,7 @@ _clear(dm_item_t item) return result; } -/* Tell the data manager about the type of the last reset */ +/** Tell the data manager about the type of the last reset */ static int _restart(dm_reset_reason reason) { @@ -480,7 +498,7 @@ _restart(dm_reset_reason reason) return result; } -/* write to the data manager file */ +/** Write to the data manager file */ __EXPORT ssize_t dm_write(dm_item_t item, unsigned char index, dm_persitence_t persistence, const void *buf, size_t count) { @@ -505,7 +523,7 @@ dm_write(dm_item_t item, unsigned char index, dm_persitence_t persistence, const return (ssize_t)enqueue_work_item_and_wait_for_result(work); } -/* Retrieve from the data manager file */ +/** Retrieve from the data manager file */ __EXPORT ssize_t dm_read(dm_item_t item, unsigned char index, void *buf, size_t count) { @@ -717,8 +735,8 @@ task_main(int argc, char *argv[]) for (;;) { if ((work = (work_q_item_t *)sq_remfirst(&(g_free_q.q))) == NULL) break; - - free(work); + if (work->first) + free(work); } destroy_q(&g_work_q); @@ -736,7 +754,7 @@ start(void) sem_init(&g_init_sema, 1, 0); /* start the worker thread */ - if ((task = task_spawn_cmd("dataman", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, 2048, task_main, NULL)) <= 0) { + if ((task = task_spawn_cmd("dataman", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, 2000, task_main, NULL)) <= 0) { warn("task start failed"); return -1; } |