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store value instead of pointer for handlers
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@DenisBiryukov91
DenisBiryukov91 committed Jul 2, 2024
1 parent 0b0e0d1 commit 9e1b39b
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Showing 2 changed files with 76 additions and 73 deletions.
147 changes: 75 additions & 72 deletions include/zenoh-pico/api/handlers.h
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Original file line number Diff line number Diff line change
Expand Up @@ -24,78 +24,81 @@
#include "zenoh-pico/utils/logging.h"

// -- Channel
#define _Z_CHANNEL_DEFINE_IMPL(handler_type, handler_name, handler_new_f_name, callback_type, callback_new_f, \
collection_type, collection_new_f, collection_free_f, collection_push_f, \
collection_pull_f, collection_try_pull_f, elem_owned_type, elem_loaned_type, \
elem_copy_f, elem_drop_f) \
typedef struct { \
collection_type *collection; \
} handler_type; \
\
_Z_OWNED_TYPE_PTR(handler_type, handler_name) \
_Z_LOANED_TYPE(handler_type, handler_name) \
\
static inline void _z_##handler_name##_elem_free(void **elem) { \
elem_drop_f((elem_owned_type *)*elem); \
z_free(*elem); \
*elem = NULL; \
} \
static inline void _z_##handler_name##_elem_move(void *dst, void *src) { \
memcpy(dst, src, sizeof(elem_owned_type)); \
z_free(src); \
} \
static inline void _z_##handler_name##_send(const elem_loaned_type *elem, void *context) { \
elem_owned_type *internal_elem = (elem_owned_type *)z_malloc(sizeof(elem_owned_type)); \
if (internal_elem == NULL) { \
_Z_ERROR("Out of memory"); \
return; \
} \
if (elem == NULL) { \
internal_elem->_rc.in = NULL; \
} else { \
elem_copy_f(&internal_elem->_rc, elem); \
} \
int8_t ret = collection_push_f(internal_elem, context, _z_##handler_name##_elem_free); \
if (ret != _Z_RES_OK) { \
_Z_ERROR("%s failed: %i", #collection_push_f, ret); \
} \
} \
static inline void z_##handler_name##_recv(const z_loaned_##handler_name##_t *handler, elem_owned_type *elem) { \
int8_t ret = collection_pull_f(elem, (collection_type *)handler->collection, _z_##handler_name##_elem_move); \
if (ret != _Z_RES_OK) { \
_Z_ERROR("%s failed: %i", #collection_pull_f, ret); \
} \
} \
static inline void z_##handler_name##_try_recv(const z_loaned_##handler_name##_t *handler, \
elem_owned_type *elem) { \
int8_t ret = \
collection_try_pull_f(elem, (collection_type *)handler->collection, _z_##handler_name##_elem_move); \
if (ret != _Z_RES_OK) { \
_Z_ERROR("%s failed: %i", #collection_try_pull_f, ret); \
} \
} \
\
static inline void _z_##handler_name##_free(handler_type **handler) { \
handler_type *ptr = *handler; \
if (ptr != NULL) { \
collection_free_f(ptr->collection, _z_##handler_name##_elem_free); \
z_free(ptr); \
*handler = NULL; \
} \
} \
static inline void _z_##handler_name##_copy(void *dst, const void *src) { \
(void)(dst); \
(void)(src); \
} \
\
_Z_OWNED_FUNCTIONS_PTR_IMPL(handler_type, handler_name, _z_##handler_name##_copy, _z_##handler_name##_free) \
\
static inline int8_t handler_new_f_name(callback_type *callback, z_owned_##handler_name##_t *handler, \
size_t capacity) { \
handler->_val = (handler_type *)z_malloc(sizeof(handler_type)); \
handler->_val->collection = collection_new_f(capacity); \
callback_new_f(callback, _z_##handler_name##_send, NULL, handler->_val->collection); \
return _Z_RES_OK; \
#define _Z_CHANNEL_DEFINE_IMPL(handler_type, handler_name, handler_new_f_name, callback_type, callback_new_f, \
collection_type, collection_new_f, collection_free_f, collection_push_f, \
collection_pull_f, collection_try_pull_f, elem_owned_type, elem_loaned_type, \
elem_copy_f, elem_drop_f) \
typedef struct { \
collection_type *collection; \
} handler_type; \
\
_Z_OWNED_TYPE_VALUE(handler_type, handler_name) \
_Z_LOANED_TYPE(handler_type, handler_name) \
\
static inline void _z_##handler_name##_elem_free(void **elem) { \
elem_drop_f((elem_owned_type *)*elem); \
z_free(*elem); \
*elem = NULL; \
} \
static inline void _z_##handler_name##_elem_move(void *dst, void *src) { \
memcpy(dst, src, sizeof(elem_owned_type)); \
z_free(src); \
} \
static inline void _z_##handler_name##_send(const elem_loaned_type *elem, void *context) { \
elem_owned_type *internal_elem = (elem_owned_type *)z_malloc(sizeof(elem_owned_type)); \
if (internal_elem == NULL) { \
_Z_ERROR("Out of memory"); \
return; \
} \
if (elem == NULL) { \
internal_elem->_rc.in = NULL; \
} else { \
elem_copy_f(&internal_elem->_rc, elem); \
} \
int8_t ret = collection_push_f(internal_elem, context, _z_##handler_name##_elem_free); \
if (ret != _Z_RES_OK) { \
_Z_ERROR("%s failed: %i", #collection_push_f, ret); \
} \
} \
static inline void z_##handler_name##_recv(const z_loaned_##handler_name##_t *handler, elem_owned_type *elem) { \
int8_t ret = collection_pull_f(elem, (collection_type *)handler->collection, _z_##handler_name##_elem_move); \
if (ret != _Z_RES_OK) { \
_Z_ERROR("%s failed: %i", #collection_pull_f, ret); \
} \
} \
static inline void z_##handler_name##_try_recv(const z_loaned_##handler_name##_t *handler, \
elem_owned_type *elem) { \
int8_t ret = \
collection_try_pull_f(elem, (collection_type *)handler->collection, _z_##handler_name##_elem_move); \
if (ret != _Z_RES_OK) { \
_Z_ERROR("%s failed: %i", #collection_try_pull_f, ret); \
} \
} \
\
static inline void _z_##handler_name##_clear(handler_type *handler) { \
if (handler != NULL && handler->collection != NULL) { \
collection_free_f(handler->collection, _z_##handler_name##_elem_free); \
handler->collection = NULL; \
} \
} \
static inline _Bool _z_##handler_name##_check(const handler_type *handler) { return handler->collection == NULL; } \
static inline handler_type _z_##handler_name##_null(void) { \
handler_type h; \
h.collection = NULL; \
return h; \
} \
\
_Z_OWNED_FUNCTIONS_VALUE_NO_COPY_IMPL(handler_type, handler_name, _z_##handler_name##_check, \
_z_##handler_name##_null, _z_##handler_name##_clear) \
\
static inline int8_t handler_new_f_name(callback_type *callback, z_owned_##handler_name##_t *handler, \
size_t capacity) { \
handler->_val.collection = collection_new_f(capacity); \
if (handler->_val.collection == NULL) { \
return _Z_ERR_SYSTEM_OUT_OF_MEMORY; \
} \
callback_new_f(callback, _z_##handler_name##_send, NULL, handler->_val.collection); \
return _Z_RES_OK; \
}

#define _Z_CHANNEL_DEFINE(item_name, kind_name) \
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2 changes: 1 addition & 1 deletion zenohpico.pc
View file
Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,6 @@ prefix=/usr/local
Name: zenohpico
Description:
URL:
Version: 1.0.20240628dev
Version: 1.0.20240702dev
Cflags: -I${prefix}/include
Libs: -L${prefix}/lib -lzenohpico

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