GCC Code Coverage Report

Directory: ./
File: Generic/PriorityQueue.cpp
Date: 2026-09-03 22:13:09
Exec Total Coverage
Lines: 128 161 79.5%
Functions: 11 13 84.6%
Branches: 53 90 58.9%
Line Branch Exec Source
1 // ======================================================================
2 // \title Os/Generic/PriorityQueue.cpp
3 // \brief priority queue implementation for Os::Queue
4 // ======================================================================
5 #include "Os/Generic/PriorityQueue.hpp"
6 #include <algorithm>
7 #include <cstring>
8 #include "Fw/LanguageHelpers.hpp"
9 #include "Fw/Types/Assert.hpp"
10 #include "Fw/Types/MemAllocator.hpp"
11 #include "config/MemoryAllocatorTypeEnumAc.hpp"
12
13 namespace Os {
14 namespace Generic {
15
16 6944 FwSizeType PriorityQueueHandle ::find_index() {
17 6944 FW_ASSERT(this->m_depth > 0);
18 6945 FwSizeType index = this->m_indices[this->m_startIndex % this->m_depth];
19 6945 this->m_startIndex = (this->m_startIndex + 1) % this->m_depth;
20 6945 return index;
21 }
22
23 6893 void PriorityQueueHandle ::return_index(FwSizeType index) {
24 6893 FW_ASSERT(this->m_depth > 0);
25 6893 this->m_indices[this->m_stopIndex % this->m_depth] = index;
26 6893 this->m_stopIndex = (this->m_stopIndex + 1) % this->m_depth;
27 6893 }
28
29 6935 void PriorityQueueHandle ::store_data(FwSizeType index, const U8* data, FwSizeType size) {
30 6935 FW_ASSERT(size <= this->m_maxSize);
31 6935 FW_ASSERT(index < this->m_depth);
32
33 6935 FwSizeType offset = this->m_maxSize * index;
34 6935 (void)::memcpy(this->m_data + offset, data, static_cast<size_t>(size));
35 6935 this->m_sizes[index] = size;
36 6935 }
37
38 6895 void PriorityQueueHandle ::load_data(FwSizeType index, U8* destination, FwSizeType size) {
39 6895 FW_ASSERT(size <= this->m_maxSize);
40 6895 FW_ASSERT(index < this->m_depth);
41 6895 FwSizeType offset = this->m_maxSize * index;
42 6895 (void)::memcpy(destination, this->m_data + offset, static_cast<size_t>(size));
43 6895 }
44
45 56 PriorityQueue::~PriorityQueue() {}
46
47 28 QueueInterface::Status PriorityQueue::create(FwEnumStoreType id,
48 const Fw::ConstStringBase& name,
49 FwSizeType depth,
50 FwSizeType messageSize) {
51 28 const FwEnumStoreType identifier = id;
52 28 QueueInterface::Status status = Os::QueueInterface::Status::OP_OK;
53 // Ensure we are created exactly once
54 28 FW_ASSERT(this->m_handle.m_indices == nullptr);
55 28 FW_ASSERT(this->m_handle.m_sizes == nullptr);
56 28 FW_ASSERT(this->m_handle.m_data == nullptr);
57
58 // Get the memory allocator configured for priority queues
59
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 28 Fw::MemAllocator& allocator = Fw::MemAllocatorRegistry::getInstance().getAnAllocator(
60 Fw::MemoryAllocation::MemoryAllocatorType::OS_GENERIC_PRIORITY_QUEUE);
61
62 // Allocate indices list
63 28 void* allocation = nullptr;
64 28 FwSizeType size = 0;
65 28 FwSizeType* indices = nullptr;
66 28 FwSizeType* sizes = nullptr;
67 28 U8* data = nullptr;
68 28 U8* heap_pointer = nullptr;
69
70 // Prevent integer overflow when computing allocation size (depth * sizeof(FwSizeType))
71 28 FW_ASSERT(depth < std::numeric_limits<FwSizeType>::max() / sizeof(FwSizeType));
72
73 // Allocate indices list and construct it when valid
74 28 size = depth * sizeof(FwSizeType);
75
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 28 allocation = allocator.allocate(identifier, size, alignof(FwSizeType));
76
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 28 if (allocation == nullptr) {
77 ✗ status = QueueInterface::Status::ALLOCATION_FAILED;
78
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 28 } else if (size < (depth * sizeof(FwSizeType))) {
79 ✗ allocator.deallocate(identifier, allocation);
80 ✗ status = QueueInterface::Status::ALLOCATION_FAILED;
81 } else {
82
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 28 indices = Fw::arrayPlacementNew<FwSizeType>(Fw::ByteArray(static_cast<U8*>(allocation), size), depth);
83 }
84
85 // Allocate sizes list and construct it when valid
86
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 28 if (status == QueueInterface::Status::OP_OK) {
87 28 size = depth * sizeof(FwSizeType);
88
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 28 allocation = allocator.allocate(identifier, size, alignof(FwSizeType));
89
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 28 if (allocation == nullptr) {
90 ✗ allocator.deallocate(identifier, indices);
91 ✗ status = QueueInterface::Status::ALLOCATION_FAILED;
92
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 28 } else if (size < (depth * sizeof(FwSizeType))) {
93 ✗ allocator.deallocate(identifier, indices);
94 ✗ allocator.deallocate(identifier, allocation);
95 ✗ status = QueueInterface::Status::ALLOCATION_FAILED;
96 } else {
97
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 28 sizes = Fw::arrayPlacementNew<FwSizeType>(Fw::ByteArray(static_cast<U8*>(allocation), size), depth);
98 }
99 }
100 // Allocate data
101
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 28 if (status == QueueInterface::Status::OP_OK) {
102 // Prevent integer overflow when computing allocation size (depth * messageSize)
103 28 FW_ASSERT((depth == 0) || (messageSize <= std::numeric_limits<FwSizeType>::max() / depth));
104 28 size = depth * messageSize;
105
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 28 allocation = allocator.allocate(identifier, size, alignof(U8));
106
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 28 if (allocation == nullptr) {
107 ✗ allocator.deallocate(identifier, indices);
108 ✗ allocator.deallocate(identifier, sizes);
109 ✗ status = QueueInterface::Status::ALLOCATION_FAILED;
110
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 28 } else if (size < (depth * messageSize)) {
111 ✗ allocator.deallocate(identifier, indices);
112 ✗ allocator.deallocate(identifier, sizes);
113 ✗ allocator.deallocate(identifier, allocation);
114 ✗ status = QueueInterface::Status::ALLOCATION_FAILED;
115 } else {
116 28 data = static_cast<U8*>(allocation);
117 }
118 }
119 // Allocate data for max heap
120
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 28 if (status == QueueInterface::Status::OP_OK) {
121 28 size = Types::MaxHeap::ELEMENT_SIZE * depth;
122
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 28 allocation = allocator.allocate(identifier, size, Types::MaxHeap::ALIGNMENT);
123
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 28 if (allocation == nullptr) {
124 ✗ allocator.deallocate(identifier, indices);
125 ✗ allocator.deallocate(identifier, sizes);
126 ✗ allocator.deallocate(identifier, data);
127 ✗ status = QueueInterface::Status::ALLOCATION_FAILED;
128
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 28 } else if (size < (Types::MaxHeap::ELEMENT_SIZE * depth)) {
129 ✗ allocator.deallocate(identifier, indices);
130 ✗ allocator.deallocate(identifier, sizes);
131 ✗ allocator.deallocate(identifier, data);
132 ✗ allocator.deallocate(identifier, allocation);
133 ✗ status = QueueInterface::Status::ALLOCATION_FAILED;
134 } else {
135 28 heap_pointer = static_cast<U8*>(allocation);
136
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 28 this->m_handle.m_heap.create(depth, Fw::ByteArray(static_cast<U8*>(allocation), size));
137 }
138 }
139 // Set up structures when all allocations succeeded
140
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 28 if (status == QueueInterface::Status::OP_OK) {
141 // Assign initial indices and sizes
142
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 363 for (FwSizeType i = 0; i < depth; i++) {
143 335 indices[i] = i;
144 335 sizes[i] = 0;
145 }
146 // Set local tracking variables
147 28 this->m_handle.m_id = id;
148 28 this->m_handle.m_maxSize = messageSize;
149 28 this->m_handle.m_indices = indices;
150 28 this->m_handle.m_data = data;
151 28 this->m_handle.m_sizes = sizes;
152 28 this->m_handle.m_heap_pointer = heap_pointer;
153 28 this->m_handle.m_startIndex = 0;
154 28 this->m_handle.m_stopIndex = 0;
155 28 this->m_handle.m_depth = depth;
156 28 this->m_handle.m_highMark = 0;
157 }
158 28 return status;
159 }
160
161 28 void PriorityQueue::teardown() {
162 28 this->teardownInternal();
163 28 }
164
165 28 void PriorityQueue::teardownInternal() {
166
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 28 if (this->m_handle.m_data != nullptr) {
167 // All backing arrays are allocated together in create()
168 28 FW_ASSERT(this->m_handle.m_indices != nullptr);
169 28 FW_ASSERT(this->m_handle.m_sizes != nullptr);
170 28 FW_ASSERT(this->m_handle.m_heap_pointer != nullptr);
171 28 const FwEnumStoreType identifier = this->m_handle.m_id;
172
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 28 Fw::MemAllocator& allocator = Fw::MemAllocatorRegistry::getInstance().getAnAllocator(
173 Fw::MemoryAllocation::MemoryAllocatorType::OS_GENERIC_PRIORITY_QUEUE);
174 28 allocator.deallocate(identifier, this->m_handle.m_data);
175 28 allocator.deallocate(identifier, this->m_handle.m_indices);
176 28 allocator.deallocate(identifier, this->m_handle.m_sizes);
177 28 this->m_handle.m_heap.teardown();
178 28 allocator.deallocate(identifier, this->m_handle.m_heap_pointer);
179
180 // Set these pointers to nullptr
181 28 this->m_handle.m_data = nullptr;
182 28 this->m_handle.m_indices = nullptr;
183 28 this->m_handle.m_sizes = nullptr;
184 }
185 28 }
186
187 6933 QueueInterface::Status PriorityQueue::send(const U8* buffer,
188 FwSizeType size,
189 FwQueuePriorityType priority,
190 QueueInterface::BlockingType blockType) {
191 // Check for sizing problem before locking
192
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 6933 if (size > this->m_handle.m_maxSize) {
193 ✗ return QueueInterface::Status::SIZE_MISMATCH;
194 }
195 // Artificial block scope for scope lock ensuring an unlock in all cases and ensuring an unlock before notify
196 {
197
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 6933 Os::ScopeLock lock(this->m_handle.m_data_lock);
198
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 6948 if (this->m_handle.m_heap.isFull() and blockType == BlockingType::NONBLOCKING) {
199 ✗ return QueueInterface::Status::FULL;
200 }
201 // Will loop and block until full is false
202 // @non-terminating@: condition-variable wait loop
203
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 6946 while (this->m_handle.m_heap.isFull()) {
204 ✗ this->m_handle.m_full.wait(this->m_handle.m_data_lock);
205 }
206
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 6945 FwSizeType index = this->m_handle.find_index();
207
208 // Space must exist, push must work
209
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 6944 const bool pushed = this->m_handle.m_heap.push(priority, index);
210 6936 FW_ASSERT(pushed);
211
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 6936 this->m_handle.store_data(index, buffer, size);
212 6922 this->m_handle.m_sizes[index] = size;
213
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 6922 this->m_handle.m_highMark = std::max(this->m_handle.m_highMark, this->getMessagesAvailable());
214 6925 }
215 6946 this->m_handle.m_empty.notify();
216 6945 return QueueInterface::Status::OP_OK;
217 }
218
219 8077 QueueInterface::Status PriorityQueue::receive(U8* destination,
220 FwSizeType capacity,
221 QueueInterface::BlockingType blockType,
222 FwSizeType& actualSize,
223 FwQueuePriorityType& priority) {
224 {
225
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 8077 Os::ScopeLock lock(this->m_handle.m_data_lock);
226
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 8100 if (this->m_handle.m_heap.isEmpty() and blockType == BlockingType::NONBLOCKING) {
227 1174 return QueueInterface::Status::EMPTY;
228 }
229 // Loop and lock while empty
230 // @non-terminating@: condition-variable wait loop
231
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 11666 while (this->m_handle.m_heap.isEmpty()) {
232
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 4770 this->m_handle.m_empty.wait(this->m_handle.m_data_lock);
233 }
234
235 FwSizeType index;
236 // Message must exist, so pop must pass and size must be valid
237
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 6915 const bool popped = this->m_handle.m_heap.pop(priority, index);
238 6908 FW_ASSERT(popped);
239 6908 actualSize = this->m_handle.m_sizes[index];
240 6908 FW_ASSERT(actualSize <= capacity);
241
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 6908 this->m_handle.load_data(index, destination, actualSize);
242
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 6906 this->m_handle.return_index(index);
243 8032 }
244 6938 this->m_handle.m_full.notify();
245 6902 return QueueInterface::Status::OP_OK;
246 }
247
248 6924 FwSizeType PriorityQueue::getMessagesAvailable() const {
249 6924 return this->m_handle.m_heap.getSize();
250 }
251
252 ✗ FwSizeType PriorityQueue::getMessageHighWaterMark() const {
253 // Safe to cast away const in this context because scope lock will restore unlocked state on return
254 ✗ Os::ScopeLock lock(const_cast<Mutex&>(this->m_handle.m_data_lock));
255 ✗ return this->m_handle.m_highMark;
256 ✗ }
257
258 ✗ QueueHandle* PriorityQueue::getHandle() {
259 ✗ return &this->m_handle;
260 }
261
262 } // namespace Generic
263 } // namespace Os
264