DJI_Memory.cpp

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#include <stdio.h>
#include <string.h>
#include "DJI_Memory.h"
#include "DJI_API.h"

using namespace DJI::onboardSDK;

void DJI::onboardSDK::CoreAPI::setupMMU()
{
  unsigned int i;
  MMU[0].tabIndex = 0;
  MMU[0].usageFlag = 1;
  MMU[0].pmem = memory;
  MMU[0].memSize = 0;
  for (i = 1; i < (MMU_TABLE_NUM - 1); i++)
  {
    MMU[i].tabIndex = i;
    MMU[i].usageFlag = 0;
  }
  MMU[MMU_TABLE_NUM - 1].tabIndex = MMU_TABLE_NUM - 1;
  MMU[MMU_TABLE_NUM - 1].usageFlag = 1;
  MMU[MMU_TABLE_NUM - 1].pmem = memory + MEMORY_SIZE;
  MMU[MMU_TABLE_NUM - 1].memSize = 0;
}

void freeMemory(MMU_Tab *mmu_tab)
{
  if (mmu_tab == (MMU_Tab *)0)
    return;
  if (mmu_tab->tabIndex == 0 || mmu_tab->tabIndex == (MMU_TABLE_NUM - 1))
    return;
  mmu_tab->usageFlag = 0;
}

MMU_Tab *DJI::onboardSDK::CoreAPI::allocMemory(unsigned short size)
{
  unsigned int mem_used = 0;
  unsigned char i;
  unsigned char j = 0;
  unsigned char mmu_tab_used_num = 0;
  unsigned char mmu_tab_used_index[MMU_TABLE_NUM];

  unsigned int temp32;
  unsigned int temp_area[2] = { 0xFFFFFFFF, 0xFFFFFFFF };

  unsigned int record_temp32 = 0;
  unsigned char magic_flag = 0;

  if (size > PRO_PURE_DATA_MAX_SIZE || size > MEMORY_SIZE)
    return (MMU_Tab *)0;

  for (i = 0; i < MMU_TABLE_NUM; i++)
    if (MMU[i].usageFlag == 1)
    {
      mem_used += MMU[i].memSize;
      mmu_tab_used_index[mmu_tab_used_num++] = MMU[i].tabIndex;
    }

  if (MEMORY_SIZE < (mem_used + size))
    return (MMU_Tab *)0;

  if (mem_used == 0)
  {
    MMU[1].pmem = MMU[0].pmem;
    MMU[1].memSize = size;
    MMU[1].usageFlag = 1;
    return &MMU[1];
  }

  for (i = 0; i < (mmu_tab_used_num - 1); i++)
    for (j = 0; j < (mmu_tab_used_num - i - 1); j++)
      if (MMU[mmu_tab_used_index[j]].pmem > MMU[mmu_tab_used_index[j + 1]].pmem)
      {
        mmu_tab_used_index[j + 1] ^= mmu_tab_used_index[j];
        mmu_tab_used_index[j] ^= mmu_tab_used_index[j + 1];
        mmu_tab_used_index[j + 1] ^= mmu_tab_used_index[j];
      }

  for (i = 0; i < (mmu_tab_used_num - 1); i++)
  {
    temp32 = (unsigned int)(MMU[mmu_tab_used_index[i + 1]].pmem -
        MMU[mmu_tab_used_index[i]].pmem);

    if ((temp32 - MMU[mmu_tab_used_index[i]].memSize) >= size)
    {
      if (temp_area[1] > (temp32 - MMU[mmu_tab_used_index[i]].memSize))
      {
        temp_area[0] = MMU[mmu_tab_used_index[i]].tabIndex;
        temp_area[1] = temp32 - MMU[mmu_tab_used_index[i]].memSize;
      }
    }

    record_temp32 += temp32 - MMU[mmu_tab_used_index[i]].memSize;
    if (record_temp32 >= size && magic_flag == 0)
    {
      j = i;
      magic_flag = 1;
    }
  }

  if (temp_area[0] == 0xFFFFFFFF && temp_area[1] == 0xFFFFFFFF)
  {
    for (i = 0; i < j; i++)
    {
      if (MMU[mmu_tab_used_index[i + 1]].pmem >
          (MMU[mmu_tab_used_index[i]].pmem + MMU[mmu_tab_used_index[i]].memSize))
      {
        memmove(MMU[mmu_tab_used_index[i]].pmem + MMU[mmu_tab_used_index[i]].memSize,
            MMU[mmu_tab_used_index[i + 1]].pmem,
            MMU[mmu_tab_used_index[i + 1]].memSize);
        MMU[mmu_tab_used_index[i + 1]].pmem =
          MMU[mmu_tab_used_index[i]].pmem + MMU[mmu_tab_used_index[i]].memSize;
      }
    }

    for (i = 1; i < (MMU_TABLE_NUM - 1); i++)
    {
      if (MMU[i].usageFlag == 0)
      {
        MMU[i].pmem =
          MMU[mmu_tab_used_index[j]].pmem + MMU[mmu_tab_used_index[j]].memSize;

        MMU[i].memSize = size;
        MMU[i].usageFlag = 1;
        return &MMU[i];
      }
    }
    return (MMU_Tab *)0;
  }

  for (i = 1; i < (MMU_TABLE_NUM - 1); i++)
  {
    if (MMU[i].usageFlag == 0)
    {
      MMU[i].pmem = MMU[temp_area[0]].pmem + MMU[temp_area[0]].memSize;

      MMU[i].memSize = size;
      MMU[i].usageFlag = 1;
      return &MMU[i];
    }
  }

  return (MMU_Tab *)0;
}

void DJI::onboardSDK::CoreAPI::setupSession()
{
  unsigned int i;
  for (i = 0; i < SESSION_TABLE_NUM; i++)
  {
    CMDSessionTab[i].sessionID = i;
    CMDSessionTab[i].usageFlag = 0;
    CMDSessionTab[i].mmu = (MMU_Tab *)NULL;
  }

  for (i = 0; i < (SESSION_TABLE_NUM - 1); i++)
  {
    ACKSessionTab[i].sessionID = i + 1;
    ACKSessionTab[i].sessionStatus = ACK_SESSION_IDLE;
    ACKSessionTab[i].mmu = (MMU_Tab *)NULL;
  }
}

CMDSession *DJI::onboardSDK::CoreAPI::allocSession(unsigned short session_id,
    unsigned short size)
{
  unsigned int i;
  API_LOG(serialDevice, DEBUG_LOG, "Allocation size %d", size);
  MMU_Tab *mmu = NULL;

  if (session_id == 0 || session_id == 1)
  {
    if (this->CMDSessionTab[session_id].usageFlag == 0)
      i = session_id;
    else
    {
      /* session is busy */
      API_LOG(serialDevice, ERROR_LOG, "session %d is busy\n", session_id);
      return NULL;
    }
  }
  else
  {
    for (i = 2; i < SESSION_TABLE_NUM; i++)
      if (CMDSessionTab[i].usageFlag == 0)
        break;
  }
  if (i < 32 && CMDSessionTab[i].usageFlag == 0)
  {
    CMDSessionTab[i].usageFlag = 1;
    mmu = allocMemory(size);
    if (mmu == NULL)
      CMDSessionTab[i].usageFlag = 0;
    else
    {
      CMDSessionTab[i].mmu = mmu;
      return &CMDSessionTab[i];
    }
  }
  return NULL;
}

void DJI::onboardSDK::CoreAPI::freeSession(CMDSession *session)
{
  if (session->usageFlag == 1)
  {
    API_LOG(serialDevice, DEBUG_LOG, "session id %d\n", session->sessionID);
    freeMemory(session->mmu);
    session->usageFlag = 0;
  }
}

ACKSession *DJI::onboardSDK::CoreAPI::allocACK(unsigned short session_id, unsigned short size)
{
  MMU_Tab *mmu = NULL;
  if (session_id > 0 && session_id < 32)
  {
    if (ACKSessionTab[session_id - 1].mmu)
      freeACK(&ACKSessionTab[session_id - 1]);
    mmu = allocMemory(size);
    if (mmu == NULL)
    {
      API_LOG(serialDevice, ERROR_LOG, "there is not enough memory\n");
      return NULL;
    }
    else
    {
      ACKSessionTab[session_id - 1].mmu = mmu;
      return &ACKSessionTab[session_id - 1];
    }
  }
  API_LOG(serialDevice, ERROR_LOG, "wrong Ack session ID: 0x%X\n", session_id);
  return NULL;
}

void DJI::onboardSDK::CoreAPI::freeACK(ACKSession *session) { freeMemory(session->mmu); }