can: use memarray for pkt and router allocation

Makefile.dep

@@ -672,11 +672,12 @@ ifneq (,$(filter can,$(USEMODULE)))
   ifneq (,$(filter can_mbox,$(USEMODULE)))
     USEMODULE += core_mbox
   endif
-  USEMODULE += gnrc_pktbuf_static
+  USEMODULE += memarray
 endif
 
 ifneq (,$(filter can_isotp,$(USEMODULE)))
   USEMODULE += xtimer
+  USEMODULE += gnrc_pktbuf
 endif
 
 ifneq (,$(filter conn_can,$(USEMODULE)))

sys/can/dll.c

@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2016 OTA keys S.A.
+ * Copyright (C) 2016-2018 OTA keys S.A.
  *
  * This file is subject to the terms and conditions of the GNU Lesser General
  * Public License v2.1. See the file LICENSE in the top level directory for more
@@ -112,7 +112,7 @@ int raw_can_abort(int ifnum, int handle)
 {
     msg_t msg, reply;
     can_pkt_t *pkt = NULL;
-    can_reg_entry_t *entry;
+    can_reg_entry_t *entry = NULL;
 
     assert(ifnum < candev_nb);
 
@@ -263,6 +263,9 @@ int raw_can_unsubscribe_rx_mbox(int ifnum, struct can_filter *filter, mbox_t *mb
 
 int raw_can_free_frame(can_rx_data_t *frame)
 {
+    if (!frame) {
+        return 0;
+    }
     int ret = can_router_free_frame((struct can_frame *)frame->data.iov_base);
 
     can_pkt_free_rx_data(frame);
@@ -386,6 +389,7 @@ int can_dll_dispatch_bus_off(kernel_pid_t pid)
 int can_dll_init(void)
 {
     can_pkt_init();
+    can_router_init();
 
     return 0;
 }

sys/can/pkt.c

@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2016 OTA keys S.A.
+ * Copyright (C) 2016-2018 OTA keys S.A.
  *
  * This file is subject to the terms and conditions of the GNU Lesser General
  * Public License v2.1. See the file LICENSE in the top level directory for more
@@ -21,7 +21,7 @@
 #include <limits.h>
 #include <errno.h>
 
-#include "net/gnrc/pktbuf.h"
+#include "memarray.h"
 #include "can/pkt.h"
 #include "mutex.h"
 
@@ -33,10 +33,19 @@
 static int handle;
 static mutex_t _mutex = MUTEX_INIT;
 
+#ifndef CAN_PKT_BUF_SIZE
+#define CAN_PKT_BUF_SIZE    128
+#endif
+
+static can_pkt_t _pkt_buf[CAN_PKT_BUF_SIZE];
+static memarray_t _pkt_array;
+static_assert(sizeof(can_pkt_t) >= sizeof(can_rx_data_t), "sizeof(can_rx_data_t) must be at most sizeof(can_pkt_t)");
+
 void can_pkt_init(void)
 {
     mutex_lock(&_mutex);
     handle = 1;
+    memarray_init(&_pkt_array, _pkt_buf, sizeof(can_pkt_t), CAN_PKT_BUF_SIZE);
     mutex_unlock(&_mutex);
 }
 
@@ -44,16 +53,16 @@ static can_pkt_t *_pkt_alloc(int ifnum, const struct can_frame *frame)
 {
     can_pkt_t *pkt;
 
-    gnrc_pktsnip_t *snip = gnrc_pktbuf_add(NULL, NULL, sizeof(*pkt), GNRC_NETTYPE_UNDEF);
-    if (!snip) {
-        DEBUG("can_pkt_alloc: out of memory\n");
+    mutex_lock(&_mutex);
+    pkt = memarray_alloc(&_pkt_array);
+    mutex_unlock(&_mutex);
+
+    if (!pkt) {
         return NULL;
     }
 
-    pkt = snip->data;
     pkt->entry.ifnum = ifnum;
     pkt->frame = *frame;
-    pkt->snip = snip;
 
     DEBUG("can_pkt_alloc: pkt allocated\n");
 
@@ -132,26 +141,28 @@ void can_pkt_free(can_pkt_t *pkt)
 
     DEBUG("can_pkt_free: free pkt=%p\n", (void*)pkt);
 
-    gnrc_pktbuf_release(pkt->snip);
+    mutex_lock(&_mutex);
+    memarray_free(&_pkt_array, pkt);
+    mutex_unlock(&_mutex);
 }
 
 can_rx_data_t *can_pkt_alloc_rx_data(void *data, size_t len, void *arg)
 {
     can_rx_data_t *rx;
 
-    gnrc_pktsnip_t *snip = gnrc_pktbuf_add(NULL, NULL, sizeof(*rx), GNRC_NETTYPE_UNDEF);
-    if (!snip) {
-        DEBUG("can_pkt_alloc_rx_data: out of memory\n");
+    mutex_lock(&_mutex);
+    rx = memarray_alloc(&_pkt_array);
+    mutex_unlock(&_mutex);
+
+    DEBUG("can_pkt_alloc_rx_data: rx=%p\n", (void *)rx);
+
+    if (!rx) {
         return NULL;
     }
 
-    rx = snip->data;
-    DEBUG("can_pkt_alloc_rx_data: rx=%p\n", (void *)rx);
-
     rx->data.iov_base = data;
     rx->data.iov_len = len;
     rx->arg = arg;
-    rx->snip = snip;
 
     return rx;
 }
@@ -162,5 +173,7 @@ void can_pkt_free_rx_data(can_rx_data_t *data)
         return;
     }
 
-    gnrc_pktbuf_release(data->snip);
+    mutex_lock(&_mutex);
+    memarray_free(&_pkt_array, data);
+    mutex_unlock(&_mutex);
 }

sys/can/router.c

@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2016 OTA keys S.A.
+ * Copyright (C) 2016-2018 OTA keys S.A.
  *
  * This file is subject to the terms and conditions of the GNU Lesser General
  * Public License v2.1. See the file LICENSE in the top level directory for more
@@ -22,14 +22,13 @@
 
 #include "kernel_defines.h"
 
-#include "net/gnrc/pktbuf.h"
-
 #include "can/router.h"
 #include "can/pkt.h"
 #include "can/device.h"
 #include "utlist.h"
 #include "mutex.h"
 #include "assert.h"
+#include "memarray.h"
 
 #ifdef MODULE_CAN_MBOX
 #include "mbox.h"
@@ -50,7 +49,6 @@ typedef struct filter_el {
     canid_t can_id;          /**< CAN ID of the element */
     canid_t mask;            /**< Mask of the element */
     void *data;              /**< Private data */
-    gnrc_pktsnip_t *snip;    /**< Pointer to the allocated snip */
 } filter_el_t;
 
 /**
@@ -58,7 +56,12 @@ typedef struct filter_el {
  */
 static can_reg_entry_t *table[CAN_DLL_NUMOF];
 
+#ifndef CAN_ROUTER_MAX_FILTER
+#define CAN_ROUTER_MAX_FILTER   64
+#endif
 
+static filter_el_t _filter_buf[CAN_ROUTER_MAX_FILTER];
+static memarray_t _filter_array;
 static mutex_t lock = MUTEX_INIT;
 
 static filter_el_t *_alloc_filter_el(canid_t can_id, canid_t mask, void *data);
@@ -86,21 +89,25 @@ static void _print_filters(void)
 #define PRINT_FILTERS()
 #endif
 
+void can_router_init(void)
+{
+    mutex_init(&lock);
+    memarray_init(&_filter_array, _filter_buf, sizeof(filter_el_t), CAN_ROUTER_MAX_FILTER);
+}
+
 static filter_el_t *_alloc_filter_el(canid_t can_id, canid_t mask, void *data)
 {
     filter_el_t *el;
-    gnrc_pktsnip_t *snip = gnrc_pktbuf_add(NULL, NULL, sizeof(*el), GNRC_NETTYPE_UNDEF);
-    if (!snip) {
+    el = memarray_alloc(&_filter_array);
+    if (!el) {
         DEBUG("can_router: _alloc_canid_el: out of memory\n");
         return NULL;
     }
 
-    el = snip->data;
     el->can_id = can_id;
     el->mask = mask;
     el->data = data;
     el->entry.next = NULL;
-    el->snip = snip;
     DEBUG("_alloc_canid_el: el allocated with can_id=0x%" PRIx32 ", mask=0x%" PRIx32
           ", data=%p\n", can_id, mask, data);
     return el;
@@ -108,10 +115,12 @@ static filter_el_t *_alloc_filter_el(canid_t can_id, canid_t mask, void *data)
 
 static void _free_filter_el(filter_el_t *el)
 {
+    assert(el);
+
     DEBUG("_free_canid_el: el freed with can_id=0x%" PRIx32 ", mask=0x%" PRIx32
           ", data=%p\n", el->can_id, el->mask, el->data);
 
-    gnrc_pktbuf_release(el->snip);
+    memarray_free(&_filter_array, el);
 }
 
 /* Insert to the list in a sorted way
@@ -314,7 +323,7 @@ int can_router_dispatch_rx_indic(can_pkt_t *pkt)
           (void *)pkt, pkt->entry.ifnum, pkt->frame.can_id);
 
     mutex_lock(&lock);
-    can_reg_entry_t *entry;
+    can_reg_entry_t *entry = NULL;
     filter_el_t *el;
     LL_FOREACH(table[pkt->entry.ifnum], entry) {
         el = container_of(entry, filter_el_t, entry);
@@ -383,9 +392,7 @@ int can_router_dispatch_tx_error(can_pkt_t *pkt)
 
 int can_router_free_frame(struct can_frame *frame)
 {
-    can_pkt_t *pkt = NULL;
-
-    pkt = container_of(frame, can_pkt_t, frame);
+    can_pkt_t *pkt = container_of(frame, can_pkt_t, frame);
 
     DEBUG("can_router_free_frame: pkt=%p\n", (void*) pkt);
 

sys/include/can/common.h

@@ -38,7 +38,6 @@ extern "C" {
 #ifdef MODULE_CAN_MBOX
 #include "mbox.h"
 #endif
-#include "net/gnrc/pktbuf.h"
 
 /**
  * @brief CAN options
@@ -123,10 +122,8 @@ enum can_msg {
 typedef struct can_rx_data {
     struct iovec data;    /**< iovec containing received data */
     void *arg;            /**< upper layer private param */
-    gnrc_pktsnip_t *snip; /**< pointer to the allocated snip */
 } can_rx_data_t;
 
-
 /**
  * @brief registry entry types
  */

sys/include/can/pkt.h

@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2016 OTA keys S.A.
+ * Copyright (C) 2016-2018 OTA keys S.A.
  *
  * This file is subject to the terms and conditions of the GNU Lesser General
  * Public License v2.1. See the file LICENSE in the top level directory for more
@@ -26,8 +26,6 @@ extern "C" {
 
 #include <stdatomic.h>
 
-#include "net/gnrc/pktbuf.h"
-
 #include "can/common.h"
 #include "can/can.h"
 #include "msg.h"
@@ -45,7 +43,6 @@ typedef struct {
     atomic_uint ref_count;   /**< Reference counter (for rx frames) */
     int handle;              /**< handle (for tx frames */
     struct can_frame frame;  /**< CAN Frame */
-    gnrc_pktsnip_t *snip;    /**< Pointer to the allocated snip */
 } can_pkt_t;
 
 /**

sys/include/can/router.h

@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2016 OTA keys S.A.
+ * Copyright (C) 2016-2018 OTA keys S.A.
  *
  * This file is subject to the terms and conditions of the GNU Lesser General
  * Public License v2.1. See the file LICENSE in the top level directory for more
@@ -29,6 +29,11 @@ extern "C" {
 #include "can/can.h"
 #include "can/pkt.h"
 
+/**
+ * @brief Initialize CAN router
+ */
+void can_router_init(void);
+
 /**
  * @brief Register a user @p entry to receive a frame @p can_id
  *