static msg_t logServerThrd(void *arg)
{
int i;
(void) arg;
chRegSetThreadName("log");
chprintf((BaseChannel *) &SD2, "Log server started\r\n");
for (i = 0; i < LOG_MSG_MP_SIZE; i++)
{
chPoolFree(&logMP, logMPbuffer[i]);
}
msg_t m, res;
while (TRUE)
{
res = chMBFetch(&logMB, &m, TIME_INFINITE );
if (res == RDY_OK)
{
chprintf((BaseChannel *) &SD2, (char *) m);
chPoolFree(&logMP, (void *) m);
}
}
return -1;
}
// must be called with the locked driver
static void free_trajectory_buffer(motor_driver_t *d)
{
if (d->control_mode == MOTOR_CONTROL_MODE_TRAJECTORY
&& d->setpt.trajectory != NULL) {
chPoolFree(d->traj_buffer_points_pool, trajectory_get_buffer_pointer(d->setpt.trajectory));
chPoolFree(d->traj_buffer_pool, d->setpt.trajectory);
d->setpt.trajectory = NULL;
}
}
/**
* @brief Releases a reference to a thread object.
* @details If the references counter reaches zero <b>and</b> the thread
* is in the @p THD_STATE_FINAL state then the thread's memory is
* returned to the proper allocator.
* @pre The configuration option @p CH_USE_DYNAMIC must be enabled in order
* to use this function.
* @note Static threads are not affected.
*
* @param[in] tp pointer to the thread
*
* @api
*/
void chThdRelease(Thread *tp) {
trefs_t refs;
chSysLock();
chDbgAssert(tp->p_refs > 0, "chThdRelease(), #1", "not referenced");
refs = --tp->p_refs;
chSysUnlock();
/* If the references counter reaches zero and the thread is in its
terminated state then the memory can be returned to the proper
allocator. Of course static threads are not affected.*/
if ((refs == 0) && (tp->p_state == THD_STATE_FINAL)) {
switch (tp->p_flags & THD_MEM_MODE_MASK) {
#if CH_USE_HEAP
case THD_MEM_MODE_HEAP:
#if CH_USE_REGISTRY
REG_REMOVE(tp);
#endif
chHeapFree(tp);
break;
#endif
#if CH_USE_MEMPOOLS
case THD_MEM_MODE_MEMPOOL:
#if CH_USE_REGISTRY
REG_REMOVE(tp);
#endif
chPoolFree(tp->p_mpool, tp);
break;
#endif
}
}
}
/**
* @brief Deletes a mutex.
* @note After deletion there could be references in the system to a
* non-existent semaphore.
*/
osStatus osMutexDelete(osMutexId mutex_id) {
chSemReset((semaphore_t *)mutex_id, 0);
chPoolFree(&sempool, (void *)mutex_id);
return osOK;
}
/**
* @brief Deletes a semaphore.
* @note After deletion there could be references in the system to a
* non-existent semaphore.
*/
osStatus osSemaphoreDelete(osSemaphoreId semaphore_id) {
chSemReset((semaphore_t *)semaphore_id, 0);
chPoolFree(&sempool, (void *)semaphore_id);
return osOK;
}
/**
* @brief Delete a timer.
*/
osStatus osTimerDelete(osTimerId timer_id) {
chVTReset(&timer_id->vt);
chPoolFree(&timpool, (void *)timer_id);
return osOK;
}
static void pools1_execute(void) {
int i;
/* Adding the WAs to the pool.*/
chPoolLoadArray(&mp1, wa[0], MAX_THREADS);
/* Emptying the pool.*/
for (i = 0; i < MAX_THREADS; i++)
test_assert(1, chPoolAlloc(&mp1) != NULL, "list empty");
/* Now must be empty.*/
test_assert(2, chPoolAlloc(&mp1) == NULL, "list not empty");
/* Adding the WAs to the pool, one by one this time.*/
for (i = 0; i < MAX_THREADS; i++)
chPoolFree(&mp1, wa[i]);
/* Emptying the pool again.*/
for (i = 0; i < MAX_THREADS; i++)
test_assert(3, chPoolAlloc(&mp1) != NULL, "list empty");
/* Now must be empty again.*/
test_assert(4, chPoolAlloc(&mp1) == NULL, "list not empty");
/* Covering the case where a provider is unable to return more memory.*/
chPoolInit(&mp1, 16, null_provider);
test_assert(5, chPoolAlloc(&mp1) == NULL, "provider returned memory");
}
static void dyn2_execute(void) {
int i;
tprio_t prio = chThdGetPriority();
/* Adding the WAs to the pool. */
for (i = 0; i < 4; i++)
chPoolFree(&mp1, wa[i]);
/* Starting threads from the memory pool. */
threads[0] = chThdCreateFromMemoryPool(&mp1, prio-1, thread, "A");
threads[1] = chThdCreateFromMemoryPool(&mp1, prio-2, thread, "B");
threads[2] = chThdCreateFromMemoryPool(&mp1, prio-3, thread, "C");
threads[3] = chThdCreateFromMemoryPool(&mp1, prio-4, thread, "D");
threads[4] = chThdCreateFromMemoryPool(&mp1, prio-5, thread, "E");
test_assert(1, (threads[0] != NULL) &&
(threads[1] != NULL) &&
(threads[2] != NULL) &&
(threads[3] != NULL) &&
(threads[4] == NULL),
"thread creation failed");
/* Claiming the memory from terminated threads. */
test_wait_threads();
test_assert_sequence(2, "ABCD");
/* Now the pool must be full again. */
for (i = 0; i < 4; i++)
test_assert(3, chPoolAlloc(&mp1) != NULL, "pool list empty");
test_assert(4, chPoolAlloc(&mp1) == NULL, "pool list not empty");
}
/**
*
* @brief Appends an item to a queue.
*
* @param[in] queuep pointer to instance of @p struct pios_queue
* @param[in] itemp pointer to item which will be appended to the queue
* @param[in] timeout_ms timeout for appending item to queue in milliseconds
*
* @returns true on success or false on timeout or failure
*
*/
bool PIOS_Queue_Send(struct pios_queue *queuep, const void *itemp, uint32_t timeout_ms)
{
void *buf = chPoolAlloc(&queuep->mp);
if (buf == NULL)
return false;
memcpy(buf, itemp, queuep->mp.mp_object_size);
systime_t timeout;
if (timeout_ms == PIOS_QUEUE_TIMEOUT_MAX)
timeout = TIME_INFINITE;
else if (timeout_ms == 0)
timeout = TIME_IMMEDIATE;
else
timeout = MS2ST(timeout_ms);
msg_t result = chMBPost(&queuep->mb, (msg_t)buf, timeout);
if (result != RDY_OK)
{
chPoolFree(&queuep->mp, buf);
return false;
}
return true;
}
static void dyn_release_object_pool(dyn_element_t *dep,
dyn_list_t *dlp,
memory_pool_t *mp) {
chDbgCheck(dep != NULL);
chDbgAssert(dep->refs > (ucnt_t)0, "invalid references number");
dep->refs--;
if (dep->refs == (ucnt_t)0) {
dep = dyn_list_unlink(dep, dlp);
chPoolFree(mp, (void *)dep);
}
}
static void test_005_001_execute(void) {
unsigned i;
/* [5.1.1] Adding the objects to the pool using chPoolLoadArray().*/
test_set_step(1);
{
chPoolLoadArray(&mp1, objects, MEMORY_POOL_SIZE);
}
/* [5.1.2] Emptying the pool using chPoolAlloc().*/
test_set_step(2);
{
for (i = 0; i < MEMORY_POOL_SIZE; i++)
test_assert(chPoolAlloc(&mp1) != NULL, "list empty");
}
/* [5.1.3] Now must be empty.*/
test_set_step(3);
{
test_assert(chPoolAlloc(&mp1) == NULL, "list not empty");
}
/* [5.1.4] Adding the objects to the pool using chPoolFree().*/
test_set_step(4);
{
for (i = 0; i < MEMORY_POOL_SIZE; i++)
chPoolFree(&mp1, &objects[i]);
}
/* [5.1.5] Emptying the pool using chPoolAlloc() again.*/
test_set_step(5);
{
for (i = 0; i < MEMORY_POOL_SIZE; i++)
test_assert(chPoolAlloc(&mp1) != NULL, "list empty");
}
/* [5.1.6] Now must be empty again.*/
test_set_step(6);
{
test_assert(chPoolAlloc(&mp1) == NULL, "list not empty");
}
/* [5.1.7] Covering the case where a provider is unable to return
more memory.*/
test_set_step(7);
{
chPoolObjectInit(&mp1, sizeof (uint32_t), null_provider);
test_assert(chPoolAlloc(&mp1) == NULL, "provider returned memory");
}
}
/**
* @brief Releases a reference to a thread object.
* @details If the references counter reaches zero <b>and</b> the thread
* is in the @p CH_STATE_FINAL state then the thread's memory is
* returned to the proper allocator.
* @pre The configuration option @p CH_CFG_USE_DYNAMIC must be enabled in
* order to use this function.
* @note Static threads are not affected.
*
* @param[in] tp pointer to the thread
*
* @api
*/
void chThdRelease(thread_t *tp) {
trefs_t refs;
chSysLock();
chDbgAssert(tp->p_refs > (trefs_t)0, "not referenced");
tp->p_refs--;
refs = tp->p_refs;
/* If the references counter reaches zero and the thread is in its
terminated state then the memory can be returned to the proper
allocator. Of course static threads are not affected.*/
if ((refs == (trefs_t)0) && (tp->p_state == CH_STATE_FINAL)) {
switch (tp->p_flags & CH_FLAG_MODE_MASK) {
#if CH_CFG_USE_HEAP == TRUE
case CH_FLAG_MODE_HEAP:
#if CH_CFG_USE_REGISTRY == TRUE
REG_REMOVE(tp);
#endif
chSysUnlock();
chHeapFree(tp);
return;
#endif
#if CH_CFG_USE_MEMPOOLS == TRUE
case CH_FLAG_MODE_MPOOL:
#if CH_CFG_USE_REGISTRY == TRUE
REG_REMOVE(tp);
#endif
chSysUnlock();
chPoolFree(tp->p_mpool, tp);
return;
#endif
default:
/* Nothing to do for static threads, those are removed from the
registry on exit.*/
break;
}
}
chSysUnlock();
}
/**
*
* @brief Retrieves an item from the front of a queue.
*
* @param[in] queuep pointer to instance of @p struct pios_queue
* @param[in] itemp pointer to item which will be retrieved
* @param[in] timeout_ms timeout for retrieving item from queue in milliseconds
*
* @returns true on success or false on timeout or failure
*
*/
bool PIOS_Queue_Receive(struct pios_queue *queuep, void *itemp, uint32_t timeout_ms)
{
msg_t buf;
systime_t timeout;
if (timeout_ms == PIOS_QUEUE_TIMEOUT_MAX)
timeout = TIME_INFINITE;
else if (timeout_ms == 0)
timeout = TIME_IMMEDIATE;
else
timeout = MS2ST(timeout_ms);
msg_t result = chMBFetch(&queuep->mb, &buf, timeout);
if (result != RDY_OK)
return false;
memcpy(itemp, (void*)buf, queuep->mp.mp_object_size);
chPoolFree(&queuep->mp, (void*)buf);
return true;
}
void MemoryPool::free(void *objp) {
chPoolFree(&pool, objp);
}
/**
* @brief Releases a mail object into a mail pool.
* @pre The mail pool must be already been initialized.
*
* @param[in] mlp pointer to a @p MailPool structure
* @param[in] mailp the pointer to the mail object to be released
*
* @api
*/
void mailDelete(MailPool *mlp, void *mailp) {
chPoolFree(&mlp->pool, mailp);
chSemSignal(&mlp->sem);
}
void usbFreeMailboxBuffer (void* buffer) {
chPoolFree (&usbMemPool, buffer);
}
