From f4e762648af81e3d7a6893020ec9f83bba910d5e Mon Sep 17 00:00:00 2001 From: Alexander Bushnev Date: Wed, 11 Dec 2024 08:52:34 +0100 Subject: [PATCH] Remove buffers reusage to avoid conflicts --- include/zenoh-pico/system/platform/espidf.h | 6 +-- include/zenoh-pico/system/platform/rpi_pico.h | 6 +-- src/system/espidf/network.c | 28 +++++++++----- src/system/rpi_pico/network.c | 37 ++++++++++--------- 4 files changed, 40 insertions(+), 37 deletions(-) diff --git a/include/zenoh-pico/system/platform/espidf.h b/include/zenoh-pico/system/platform/espidf.h index ccaf99ce6..eaca83742 100644 --- a/include/zenoh-pico/system/platform/espidf.h +++ b/include/zenoh-pico/system/platform/espidf.h @@ -56,11 +56,7 @@ typedef struct { int _fd; #endif #if Z_FEATURE_LINK_SERIAL == 1 - struct { - uart_port_t _serial; - uint8_t *tmp_buf; - uint8_t *raw_buf; - }; + uart_port_t _serial; #endif }; } _z_sys_net_socket_t; diff --git a/include/zenoh-pico/system/platform/rpi_pico.h b/include/zenoh-pico/system/platform/rpi_pico.h index 9ef61f9a3..b5480548c 100644 --- a/include/zenoh-pico/system/platform/rpi_pico.h +++ b/include/zenoh-pico/system/platform/rpi_pico.h @@ -61,11 +61,7 @@ typedef struct { int _fd; #endif #if Z_FEATURE_LINK_SERIAL == 1 - struct { - uart_inst_t *_serial; - uint8_t *tmp_buf; - uint8_t *raw_buf; - }; + uart_inst_t *_serial; #endif }; } _z_sys_net_socket_t; diff --git a/src/system/espidf/network.c b/src/system/espidf/network.c index 16c1d7397..7aa41e49a 100644 --- a/src/system/espidf/network.c +++ b/src/system/espidf/network.c @@ -601,8 +601,6 @@ z_result_t _z_open_serial_from_dev(_z_sys_net_socket_t *sock, char *dev, uint32_ QueueHandle_t uart_queue; uart_driver_install(sock->_serial, uart_buffer_size, 0, 100, &uart_queue, 0); uart_flush_input(sock->_serial); - sock->tmp_buf = (uint8_t *)z_malloc(_Z_SERIAL_MFS_SIZE); - sock->raw_buf = (uint8_t *)z_malloc(_Z_SERIAL_MAX_COBS_BUF_SIZE); return _z_connect_serial(*sock); } @@ -636,14 +634,13 @@ void _z_close_serial(_z_sys_net_socket_t *sock) { uart_wait_tx_done(sock->_serial, 1000); uart_flush(sock->_serial); uart_driver_delete(sock->_serial); - z_free(sock->tmp_buf); - z_free(sock->raw_buf); } size_t _z_read_serial_internal(const _z_sys_net_socket_t sock, uint8_t *header, uint8_t *ptr, size_t len) { + uint8_t *raw_buf = z_malloc(_Z_SERIAL_MAX_COBS_BUF_SIZE); size_t rb = 0; while (rb < _Z_SERIAL_MAX_COBS_BUF_SIZE) { - int r = uart_read_bytes(sock._serial, &sock.raw_buf[rb], 1, 1000); + int r = uart_read_bytes(sock._serial, &raw_buf[rb], 1, 1000); if (r == 0) { _Z_DEBUG("Timeout reading from serial"); if (rb == 0) { @@ -651,7 +648,7 @@ size_t _z_read_serial_internal(const _z_sys_net_socket_t sock, uint8_t *header, } } else if (r == 1) { rb = rb + (size_t)1; - if (sock.raw_buf[rb - 1] == (uint8_t)0x00) { + if (raw_buf[rb - 1] == (uint8_t)0x00) { break; } } else { @@ -660,22 +657,33 @@ size_t _z_read_serial_internal(const _z_sys_net_socket_t sock, uint8_t *header, } } - return _z_serial_msg_deserialize(sock.raw_buf, rb, ptr, len, header, sock.tmp_buf, _Z_SERIAL_MFS_SIZE); + uint8_t *tmp_buf = z_malloc(_Z_SERIAL_MFS_SIZE); + size_t ret = _z_serial_msg_deserialize(raw_buf, rb, ptr, len, header, tmp_buf, _Z_SERIAL_MFS_SIZE); + + z_free(raw_buf); + z_free(tmp_buf); + + return ret; } size_t _z_send_serial_internal(const _z_sys_net_socket_t sock, uint8_t header, const uint8_t *ptr, size_t len) { - size_t ret = _z_serial_msg_serialize(sock.raw_buf, _Z_SERIAL_MAX_COBS_BUF_SIZE, ptr, len, header, sock.tmp_buf, - _Z_SERIAL_MFS_SIZE); + uint8_t *tmp_buf = (uint8_t *)z_malloc(_Z_SERIAL_MFS_SIZE); + uint8_t *raw_buf = (uint8_t *)z_malloc(_Z_SERIAL_MAX_COBS_BUF_SIZE); + size_t ret = + _z_serial_msg_serialize(raw_buf, _Z_SERIAL_MAX_COBS_BUF_SIZE, ptr, len, header, tmp_buf, _Z_SERIAL_MFS_SIZE); if (ret == SIZE_MAX) { return ret; } - ssize_t wb = uart_write_bytes(sock._serial, sock.raw_buf, ret); + ssize_t wb = uart_write_bytes(sock._serial, raw_buf, ret); if (wb != (ssize_t)ret) { ret = SIZE_MAX; } + z_free(raw_buf); + z_free(tmp_buf); + return len; } #endif diff --git a/src/system/rpi_pico/network.c b/src/system/rpi_pico/network.c index b658e97ec..322e82230 100644 --- a/src/system/rpi_pico/network.c +++ b/src/system/rpi_pico/network.c @@ -530,9 +530,6 @@ z_result_t _z_open_serial_from_pins(_z_sys_net_socket_t *sock, uint32_t txpin, u _z_open_serial_impl(sock->_serial, txpin, rxpin, baudrate); - sock->tmp_buf = (uint8_t *)z_malloc(_Z_SERIAL_MFS_SIZE); - sock->raw_buf = (uint8_t *)z_malloc(_Z_SERIAL_MAX_COBS_BUF_SIZE); - return _z_connect_serial(*sock); } @@ -540,8 +537,6 @@ z_result_t _z_open_serial_from_dev(_z_sys_net_socket_t *sock, char *dev, uint32_ z_result_t ret = _Z_RES_OK; sock->_serial = NULL; - sock->tmp_buf = (uint8_t *)z_malloc(_Z_SERIAL_MFS_SIZE); - sock->raw_buf = (uint8_t *)z_malloc(_Z_SERIAL_MAX_COBS_BUF_SIZE); #if Z_FEATURE_LINK_SERIAL_USB == 1 if (strcmp("usb", dev) == 0) { @@ -564,8 +559,6 @@ z_result_t _z_open_serial_from_dev(_z_sys_net_socket_t *sock, char *dev, uint32_ if (sock->_serial == NULL) { _Z_ERROR("invalid device name"); - z_free(sock->tmp_buf); - z_free(sock->raw_buf); return _Z_ERR_INVALID; } @@ -607,42 +600,52 @@ void _z_close_serial(_z_sys_net_socket_t *sock) { _z_usb_uart_deinit(); #endif } - z_free(sock->tmp_buf); - z_free(sock->raw_buf); } size_t _z_read_serial_internal(const _z_sys_net_socket_t sock, uint8_t *header, uint8_t *ptr, size_t len) { + uint8_t *raw_buf = z_malloc(_Z_SERIAL_MAX_COBS_BUF_SIZE); size_t rb = 0; for (size_t i = 0; i < _Z_SERIAL_MAX_COBS_BUF_SIZE; i++) { #if Z_FEATURE_LINK_SERIAL_USB == 1 - sock.raw_buf[i] = (sock._serial == NULL) ? _z_usb_uart_getc() : uart_getc(sock._serial); + raw_buf[i] = (sock._serial == NULL) ? _z_usb_uart_getc() : uart_getc(sock._serial); #else - sock.raw_buf[i] = uart_getc(sock._serial); + raw_buf[i] = uart_getc(sock._serial); #endif rb++; - if (sock.raw_buf[i] == 0x00) { + if (raw_buf[i] == 0x00) { break; } } - return _z_serial_msg_deserialize(sock.raw_buf, rb, ptr, len, header, sock.tmp_buf, _Z_SERIAL_MFS_SIZE); + uint8_t *tmp_buf = z_malloc(_Z_SERIAL_MFS_SIZE); + size_t ret = _z_serial_msg_deserialize(raw_buf, rb, ptr, len, header, tmp_buf, _Z_SERIAL_MFS_SIZE); + + z_free(raw_buf); + z_free(tmp_buf); + + return ret; } size_t _z_send_serial_internal(const _z_sys_net_socket_t sock, uint8_t header, const uint8_t *ptr, size_t len) { - size_t ret = _z_serial_msg_serialize(sock.raw_buf, _Z_SERIAL_MAX_COBS_BUF_SIZE, ptr, len, header, sock.tmp_buf, - _Z_SERIAL_MFS_SIZE); + uint8_t *tmp_buf = (uint8_t *)z_malloc(_Z_SERIAL_MFS_SIZE); + uint8_t *raw_buf = (uint8_t *)z_malloc(_Z_SERIAL_MAX_COBS_BUF_SIZE); + size_t ret = + _z_serial_msg_serialize(raw_buf, _Z_SERIAL_MAX_COBS_BUF_SIZE, ptr, len, header, tmp_buf, _Z_SERIAL_MFS_SIZE); if (ret == SIZE_MAX) { return ret; } if (sock._serial == NULL) { #if Z_FEATURE_LINK_SERIAL_USB == 1 - _z_usb_uart_write(sock.raw_buf, ret); + _z_usb_uart_write(raw_buf, ret); #endif } else { - uart_write_blocking(sock._serial, sock.raw_buf, ret); + uart_write_blocking(sock._serial, raw_buf, ret); } + z_free(raw_buf); + z_free(tmp_buf); + return len; } #endif