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modules: dataman: Optimize memory usage

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Use the size of each item type instead of the biggest one.

In AeroFC that runs is constrained mode it was using 7860 bytes
and now it uses 6930 bytes almost 1KB less.
This commit is contained in:
José Roberto de Souza
2017-03-09 14:45:49 -08:00
committed by Beat Küng
parent f160743df4
commit 10f54e718e
3 changed files with 117 additions and 127 deletions
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227
src/modules/dataman/dataman.c
View File

@@ -233,6 +233,19 @@ static const unsigned g_per_item_max_index[DM_KEY_NUM_KEYS] = {
DM_KEY_COMPAT_MAX
};
#define DM_SECTOR_HDR_SIZE 4 /* data manager per item header overhead */
/* Table of the len of each item type */
static const unsigned g_per_item_size[DM_KEY_NUM_KEYS] = {
sizeof(struct home_position_s) + DM_SECTOR_HDR_SIZE,
sizeof(struct fence_vertex_s) + DM_SECTOR_HDR_SIZE,
sizeof(struct mission_item_s) + DM_SECTOR_HDR_SIZE,
sizeof(struct mission_item_s) + DM_SECTOR_HDR_SIZE,
sizeof(struct mission_item_s) + DM_SECTOR_HDR_SIZE,
sizeof(struct mission_s) + DM_SECTOR_HDR_SIZE,
sizeof(struct dataman_compat_s) + DM_SECTOR_HDR_SIZE
};
/* Table of offset for index 0 of each item type */
static unsigned int g_key_offsets[DM_KEY_NUM_KEYS];
@@ -279,9 +292,6 @@ static px4_sem_t g_init_sema;
static bool g_task_should_exit; /**< if true, dataman task should exit */
#define DM_SECTOR_HDR_SIZE 4 /* data manager per item header overhead */
static const unsigned k_sector_size = DM_MAX_DATA_SIZE + DM_SECTOR_HDR_SIZE; /* total item sorage space */
static void init_q(work_q_t *q)
{
sq_init(&(q->q)); /* Initialize the NuttX queue structure */
@@ -440,7 +450,7 @@ calculate_offset(dm_item_t item, unsigned index)
}
/* Calculate and return the item index based on type and index */
return g_key_offsets[item] + (index * k_sector_size);
return g_key_offsets[item] + (index * g_per_item_size[item]);
}
/* Each data item is stored as follows
@@ -451,7 +461,7 @@ calculate_offset(dm_item_t item, unsigned index)
* byte 3: Unused (for future use)
* byte DM_SECTOR_HDR_SIZE... : data item value
*
* The total size must not exceed k_sector_size
* The total size must not exceed g_per_item_max_index[item]
*/
/* write to the data manager RAM buffer */
@@ -468,7 +478,7 @@ static ssize_t _ram_write(dm_item_t item, unsigned index, dm_persitence_t persis
}
/* Make sure caller has not given us more data than we can handle */
if (count > DM_MAX_DATA_SIZE) {
if (count > g_per_item_size[item]) {
return -E2BIG;
}
@@ -496,7 +506,7 @@ static ssize_t _ram_write(dm_item_t item, unsigned index, dm_persitence_t persis
static ssize_t
_file_write(dm_item_t item, unsigned index, dm_persitence_t persistence, const void *buf, size_t count)
{
unsigned char buffer[k_sector_size];
unsigned char buffer[g_per_item_size[item]];
size_t len;
int offset;
@@ -509,7 +519,7 @@ _file_write(dm_item_t item, unsigned index, dm_persitence_t persistence, const v
}
/* Make sure caller has not given us more data than we can handle */
if (count > DM_MAX_DATA_SIZE) {
if (count > g_per_item_size[item]) {
return -E2BIG;
}
@@ -576,7 +586,7 @@ static ssize_t _ram_read(dm_item_t item, unsigned index, void *buf, size_t count
}
/* Make sure the caller hasn't asked for more data than we can handle */
if (count > DM_MAX_DATA_SIZE) {
if (count > g_per_item_size[item]) {
return -E2BIG;
}
@@ -607,7 +617,7 @@ static ssize_t _ram_read(dm_item_t item, unsigned index, void *buf, size_t count
static ssize_t
_file_read(dm_item_t item, unsigned index, void *buf, size_t count)
{
unsigned char buffer[k_sector_size];
unsigned char buffer[g_per_item_size[item]];
int len, offset;
/* Get the offset for this item */
@@ -619,7 +629,7 @@ _file_read(dm_item_t item, unsigned index, void *buf, size_t count)
}
/* Make sure the caller hasn't asked for more data than we can handle */
if (count > DM_MAX_DATA_SIZE) {
if (count > g_per_item_size[item]) {
return -E2BIG;
}
@@ -686,7 +696,7 @@ static int _ram_clear(dm_item_t item)
}
buf[0] = 0;
offset += k_sector_size;
offset += g_per_item_size[item];
}
return result;
@@ -734,7 +744,7 @@ _file_clear(dm_item_t item)
}
}
offset += k_sector_size;
offset += g_per_item_size[item];
}
/* Make sure data is actually written to physical media */
@@ -760,110 +770,107 @@ _ram_flash_clear(dm_item_t item)
/* Tell the data manager about the type of the last reset */
static int _ram_restart(dm_reset_reason reason)
{
int offset = 0;
int result = 0;
uint8_t *buffer = dm_operations_data.ram.data;
/* We need to scan the entire file and invalidate and data that should not persist after the last reset */
/* Loop through all of the data segments and delete those that are not persistent */
while (1) {
/* Get data segment at current offset */
uint8_t *buffer = &dm_operations_data.ram.data[offset];
for (dm_item_t item = DM_KEY_SAFE_POINTS; item < DM_KEY_NUM_KEYS; item++) {
for (unsigned i = 0; i < g_per_item_max_index[item]; i++) {
/* check if segment contains data */
if (buffer[0]) {
bool clear_entry = false;
if (buffer >= dm_operations_data.ram.data_end) {
break;
}
/* Whether data gets deleted depends on reset type and data segment's persistence setting */
if (reason == DM_INIT_REASON_POWER_ON) {
if (buffer[1] > DM_PERSIST_POWER_ON_RESET) {
clear_entry = true;
}
/* check if segment contains data */
if (buffer[0]) {
int clear_entry = 0;
/* Whether data gets deleted depends on reset type and data segment's persistence setting */
if (reason == DM_INIT_REASON_POWER_ON) {
if (buffer[1] > DM_PERSIST_POWER_ON_RESET) {
clear_entry = 1;
} else {
if (buffer[1] > DM_PERSIST_IN_FLIGHT_RESET) {
clear_entry = true;
}
}
} else {
if (buffer[1] > DM_PERSIST_IN_FLIGHT_RESET) {
clear_entry = 1;
/* Set segment to unused if data does not persist */
if (clear_entry) {
buffer[0] = 0;
}
}
/* Set segment to unused if data does not persist */
if (clear_entry) {
buffer[0] = 0;
}
buffer += g_per_item_size[item];
}
offset += k_sector_size;
}
/* tell the caller how it went */
return result;
return 0;
}
static int
_file_restart(dm_reset_reason reason)
{
unsigned char buffer[2];
int offset = 0, result = 0;
unsigned offset = 0;
int result = 0;
/* We need to scan the entire file and invalidate and data that should not persist after the last reset */
/* Loop through all of the data segments and delete those that are not persistent */
while (1) {
size_t len;
for (dm_item_t item = DM_KEY_SAFE_POINTS; item < DM_KEY_NUM_KEYS; item++) {
for (unsigned i = 0; i < g_per_item_max_index[item]; i++) {
/* Get data segment at current offset */
if (lseek(dm_operations_data.file.fd, offset, SEEK_SET) != offset) {
result = -1;
item = DM_KEY_NUM_KEYS;
break;
}
/* Get data segment at current offset */
if (lseek(dm_operations_data.file.fd, offset, SEEK_SET) != offset) {
/* must be at eof */
break;
}
uint8_t buffer[2];
ssize_t len = read(dm_operations_data.file.fd, buffer, sizeof(buffer));
len = read(dm_operations_data.file.fd, buffer, sizeof(buffer));
if (len != sizeof(buffer)) {
result = -1;
item = DM_KEY_NUM_KEYS;
break;
}
if (len != sizeof(buffer)) {
/* must be at eof */
break;
}
/* check if segment contains data */
if (buffer[0]) {
bool clear_entry = false;
/* check if segment contains data */
if (buffer[0]) {
int clear_entry = 0;
/* Whether data gets deleted depends on reset type and data segment's persistence setting */
if (reason == DM_INIT_REASON_POWER_ON) {
if (buffer[1] > DM_PERSIST_POWER_ON_RESET) {
clear_entry = true;
}
/* Whether data gets deleted depends on reset type and data segment's persistence setting */
if (reason == DM_INIT_REASON_POWER_ON) {
if (buffer[1] > DM_PERSIST_POWER_ON_RESET) {
clear_entry = 1;
} else {
if (buffer[1] > DM_PERSIST_IN_FLIGHT_RESET) {
clear_entry = true;
}
}
} else {
if (buffer[1] > DM_PERSIST_IN_FLIGHT_RESET) {
clear_entry = 1;
/* Set segment to unused if data does not persist */
if (clear_entry) {
if (lseek(dm_operations_data.file.fd, offset, SEEK_SET) != offset) {
result = -1;
item = DM_KEY_NUM_KEYS;
break;
}
buffer[0] = 0;
len = write(dm_operations_data.file.fd, buffer, 1);
if (len != 1) {
result = -1;
item = DM_KEY_NUM_KEYS;
break;
}
}
}
/* Set segment to unused if data does not persist */
if (clear_entry) {
if (lseek(dm_operations_data.file.fd, offset, SEEK_SET) != offset) {
result = -1;
break;
}
buffer[0] = 0;
len = write(dm_operations_data.file.fd, buffer, 1);
if (len != 1) {
result = -1;
break;
}
}
offset += g_per_item_size[item];
}
offset += k_sector_size;
}
fsync(dm_operations_data.file.fd);
@@ -876,53 +883,46 @@ _file_restart(dm_reset_reason reason)
static int
_ram_flash_restart(dm_reset_reason reason)
{
int offset = 0;
uint8_t *buffer = dm_operations_data.ram.data;
bool need_flush = false;
/* We need to scan the entire file and invalidate and data that should not persist after the last reset */
/* Loop through all of the data segments and delete those that are not persistent */
while (1) {
/* Get data segment at current offset */
uint8_t *buffer = &dm_operations_data.ram.data[offset];
for (dm_item_t item = DM_KEY_SAFE_POINTS; item < DM_KEY_NUM_KEYS; item++) {
for (unsigned i = 0; i < g_per_item_max_index[item]; i++) {
/* check if segment contains data */
if (buffer[0]) {
bool clear_entry = false;
if (buffer >= dm_operations_data.ram.data_end) {
break;
}
/* Whether data gets deleted depends on reset type and data segment's persistence setting */
if (reason == DM_INIT_REASON_POWER_ON) {
if (buffer[1] > DM_PERSIST_POWER_ON_RESET) {
clear_entry = true;
}
/* check if segment contains data */
if (buffer[0]) {
int clear_entry = 0;
/* Whether data gets deleted depends on reset type and data segment's persistence setting */
if (reason == DM_INIT_REASON_POWER_ON) {
if (buffer[1] > DM_PERSIST_POWER_ON_RESET) {
clear_entry = 1;
} else {
if (buffer[1] > DM_PERSIST_IN_FLIGHT_RESET) {
clear_entry = true;
}
}
} else {
if (buffer[1] > DM_PERSIST_IN_FLIGHT_RESET) {
clear_entry = 1;
/* Set segment to unused if data does not persist */
if (clear_entry) {
buffer[0] = 0;
need_flush = true;
}
}
/* Set segment to unused if data does not persist */
if (clear_entry) {
buffer[0] = 0;
need_flush = true;
}
buffer += g_per_item_size[item];
}
offset += k_sector_size;
}
if (need_flush) {
_ram_flash_update_flush_timeout();
return 0;
}
/* tell the caller how it went */
return 0;
}
#endif
@@ -1298,11 +1298,12 @@ task_main(int argc, char *argv[])
/* Initialize global variables */
g_key_offsets[0] = 0;
for (unsigned i = 0; i < (DM_KEY_NUM_KEYS - 1); i++) {
g_key_offsets[i + 1] = g_key_offsets[i] + (g_per_item_max_index[i] * k_sector_size);
for (dm_item_t i = 0; i < (DM_KEY_NUM_KEYS - 1); i++) {
g_key_offsets[i + 1] = g_key_offsets[i] + (g_per_item_max_index[i] * g_per_item_size[i]);
}
unsigned max_offset = g_key_offsets[DM_KEY_NUM_KEYS - 1] + (g_per_item_max_index[DM_KEY_NUM_KEYS - 1] * k_sector_size);
unsigned max_offset = g_key_offsets[DM_KEY_NUM_KEYS - 1] + (g_per_item_max_index[DM_KEY_NUM_KEYS - 1] *
g_per_item_size[DM_KEY_NUM_KEYS - 1]);
for (unsigned i = 0; i < dm_number_of_funcs; i++) {
g_func_counts[i] = 0;

15
src/modules/dataman/dataman.h
View File

@@ -44,6 +44,7 @@
#include <uORB/topics/mission.h>
#include <uORB/topics/fence.h>
#include <uORB/topics/fence_vertex.h>
#include <uORB/topics/home_position.h>
#ifdef __cplusplus
extern "C" {
@@ -116,20 +117,6 @@ struct dataman_compat_s {
#define DM_COMPAT_KEY ((DM_COMPAT_VERSION << 32) + (sizeof(struct mission_item_s) << 24) + (sizeof(struct mission_s) << 16) + (sizeof(struct fence_vertex_s) << 8) + sizeof(struct dataman_compat_s))
/** Maximum size in bytes of a single item instance is
* defined by adding the structure type to the union below
*/
typedef union dataman_max_size_t {
struct mission_item_s mission_item;
struct mission_s mission;
struct fence_vertex_s vertex;
struct dataman_compat_s compat;
} dataman_max_size_t;
#define DM_MAX_DATA_SIZE sizeof(dataman_max_size_t)
/** Retrieve from the data manager store */
__EXPORT ssize_t
dm_read(

2
src/systemcmds/tests/test_dataman.c
View File

@@ -63,6 +63,8 @@ int test_dataman(int argc, char *argv[]);
#define NUM_MISSIONS_TEST 50
#define DM_MAX_DATA_SIZE sizeof(struct mission_s)
static int
task_main(int argc, char *argv[])
{