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modules: dataman: Optimize memory usage #6809

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Jul 13, 2017
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modules: dataman: Optimize memory usage #6809

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8ce1da0
modules: dataman: Optimize memory usage
zehortigoza Mar 9, 2017
467cdf3
modules: dataman: ram_flash: No need to write/erase data that do not …
zehortigoza Mar 23, 2017
5dbf45f
systemcmds: dataman: Check for errors in tasks
zehortigoza Apr 5, 2017
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234 changes: 99 additions & 135 deletions src/modules/dataman/dataman.c
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Original file line number Diff line number Diff line change
Expand Up @@ -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];

Expand Down Expand Up @@ -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 */
Expand Down Expand Up @@ -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
Expand All @@ -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 */
Expand All @@ -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;
}

Expand Down Expand Up @@ -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;

Expand All @@ -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;
}

Expand Down Expand Up @@ -559,7 +569,10 @@ _ram_flash_write(dm_item_t item, unsigned index, dm_persitence_t persistence, co
return ret;
}

_ram_flash_update_flush_timeout();
if (persistence == DM_PERSIST_POWER_ON_RESET) {
_ram_flash_update_flush_timeout();
}

return ret;
}
#endif
Expand All @@ -576,7 +589,7 @@ 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;
}

Expand Down Expand Up @@ -607,7 +620,7 @@ 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 */
Expand All @@ -619,7 +632,7 @@ _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;
}

Expand Down Expand Up @@ -686,7 +699,7 @@ static int _ram_clear(dm_item_t item)
}

buf[0] = 0;
offset += k_sector_size;
offset += g_per_item_size[item];
}

return result;
Expand Down Expand Up @@ -734,7 +747,7 @@ _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 */
Expand All @@ -760,110 +773,107 @@ _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];

if (buffer >= dm_operations_data.ram.data_end) {
break;
}

/* 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;
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;

/* 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;
}

} 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;

/* Get data segment at current offset */
if (lseek(dm_operations_data.file.fd, offset, SEEK_SET) != offset) {
/* must be at eof */
break;
}
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;
}

len = read(dm_operations_data.file.fd, buffer, sizeof(buffer));
uint8_t buffer[2];
ssize_t len = read(dm_operations_data.file.fd, buffer, sizeof(buffer));

if (len != sizeof(buffer)) {
/* must be at eof */
break;
}
if (len != sizeof(buffer)) {
result = -1;
item = DM_KEY_NUM_KEYS;
break;
}

/* check if segment contains data */
if (buffer[0]) {
int clear_entry = 0;
/* check if segment contains data */
if (buffer[0]) {
bool clear_entry = false;

/* 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;
}
/* 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;
}

} else {
if (buffer[1] > DM_PERSIST_IN_FLIGHT_RESET) {
clear_entry = 1;
} else {
if (buffer[1] > DM_PERSIST_IN_FLIGHT_RESET) {
clear_entry = true;
}
}
}

/* 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;
}
/* 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;
buffer[0] = 0;

len = write(dm_operations_data.file.fd, buffer, 1);
len = write(dm_operations_data.file.fd, buffer, 1);

if (len != 1) {
result = -1;
break;
if (len != 1) {
result = -1;
item = DM_KEY_NUM_KEYS;
break;
}
}
}
}

offset += k_sector_size;
offset += g_per_item_size[item];
}
}

fsync(dm_operations_data.file.fd);
Expand All @@ -876,54 +886,7 @@ _file_restart(dm_reset_reason reason)
static int
_ram_flash_restart(dm_reset_reason reason)
{
int offset = 0;
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];

if (buffer >= dm_operations_data.ram.data_end) {
break;
}

/* 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 = 1;
}
}

/* Set segment to unused if data does not persist */
if (clear_entry) {
buffer[0] = 0;
need_flush = true;
}
}

offset += k_sector_size;
}

if (need_flush) {
_ram_flash_update_flush_timeout();
return 0;
}

/* tell the caller how it went */
return 0;
return dm_ram_operations.restart(reason);
}
#endif

Expand Down Expand Up @@ -1298,11 +1261,12 @@ 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;
Expand Down
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