Remove buffers reusage to avoid conflicts

eclipse-zenoh · Dec 11, 2024 · db8702a · db8702a
1 parent 5bd9b96
commit db8702a
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Showing 13 changed files with 119 additions and 107 deletions.
diff --git a/.github/workflows/espidf.yaml b/.github/workflows/espidf.yaml
@@ -51,7 +51,7 @@ jobs:
 
           mkdir -p $ESPIDF_BASE
           cd $ESPIDF_BASE
-          platformio init -b az-delivery-devkit-v4 --project-option="framework=espidf" --project-option="build_flags=-DZENOH_ESPIDF -DZENOH_DEBUG=3"
+          platformio init -b az-delivery-devkit-v4 -O "board_build.cmake_extra_args=-DZ_FEATURE_LINK_SERIAL=1" --project-option="framework=espidf" --project-option="build_flags=-DZENOH_ESPIDF -DZENOH_DEBUG=3"
 
           cd $ESPIDF_BASE/lib
           ln -s $ZENOH_PICO_BASE

diff --git a/include/zenoh-pico/system/platform/arduino/esp32.h b/include/zenoh-pico/system/platform/arduino/esp32.h
@@ -47,11 +47,7 @@ typedef struct {
         BluetoothSerial *_bts;  // As pointer to cross the boundary between C and C++
 #endif
 #if Z_FEATURE_LINK_SERIAL == 1
-        struct {
-            HardwareSerial *_serial;  // As pointer to cross the boundary between C and C++
-            uint8_t *tmp_buf;
-            uint8_t *raw_buf;
-        };
+        HardwareSerial *_serial;  // As pointer to cross the boundary between C and C++
 #endif
     };
 } _z_sys_net_socket_t;

diff --git 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/flipper.h b/include/zenoh-pico/system/platform/flipper.h
@@ -44,8 +44,6 @@ typedef struct {
 #if Z_FEATURE_LINK_SERIAL == 1
     FuriStreamBuffer* _rx_stream;
     FuriHalSerialHandle* _serial;
-    uint8_t* tmp_buf;
-    uint8_t* raw_buf;
 #endif
 } _z_sys_net_socket_t;
 

diff --git a/include/zenoh-pico/system/platform/mbed.h b/include/zenoh-pico/system/platform/mbed.h
@@ -51,11 +51,7 @@ typedef struct {
         UDPSocket *_udp;  // As pointer to cross the boundary between C and C++
 #endif
 #if Z_FEATURE_LINK_SERIAL == 1
-        struct {
-            BufferedSerial *_serial;  // As pointer to cross the boundary between C and C++
-            uint8_t *tmp_buf;
-            uint8_t *raw_buf;
-        };
+        BufferedSerial *_serial;  // As pointer to cross the boundary between C and C++
 #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
@@ -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/include/zenoh-pico/system/platform/zephyr.h b/include/zenoh-pico/system/platform/zephyr.h
@@ -50,11 +50,7 @@ typedef struct {
         int _fd;
 #endif
 #if Z_FEATURE_LINK_SERIAL == 1
-        struct {
-            const struct device *_serial;
-            uint8_t *tmp_buf;
-            uint8_t *raw_buf;
-        };
+        const struct device *_serial;
 #endif
     };
 } _z_sys_net_socket_t;

diff --git a/src/system/arduino/esp32/network.cpp b/src/system/arduino/esp32/network.cpp
@@ -685,9 +685,6 @@ z_result_t _z_open_serial_from_pins(_z_sys_net_socket_t *sock, uint32_t txpin, u
         }
     }
 
-    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 ret;
 }
 
@@ -727,9 +724,6 @@ z_result_t _z_open_serial_from_dev(_z_sys_net_socket_t *sock, char *dev, uint32_
         return _Z_ERR_GENERIC;
     }
 
-    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);
 }
 
@@ -761,38 +755,49 @@ z_result_t _z_listen_serial_from_dev(_z_sys_net_socket_t *sock, char *dev, uint3
 void _z_close_serial(_z_sys_net_socket_t *sock) {
     sock->_serial->end();
     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;
     for (size_t i = 0; i < _Z_SERIAL_MAX_COBS_BUF_SIZE; i++) {
         while (sock._serial->available() < 1) {
             z_sleep_ms(1);  // FIXME: Yield by sleeping.
         }
-        sock.raw_buf[i] = sock._serial->read();
+        raw_buf[i] = sock._serial->read();
         rb = rb + (size_t)1;
-        if (sock.raw_buf[i] == (uint8_t)0x00) {
+        if (raw_buf[i] == (uint8_t)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;
     }
 
-    ssize_t wb = sock._serial->write(sock.raw_buf, ret);
+    ssize_t wb = sock._serial->write(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/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);
 }
@@ -636,22 +634,21 @@ 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) {
                 return SIZE_MAX;
             }
         } 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/flipper/network.c b/src/system/flipper/network.c
@@ -78,9 +78,6 @@ z_result_t _z_open_serial_from_dev(_z_sys_net_socket_t* sock, char* dev, uint32_
 
     _Z_DEBUG("Serial port opened: %s (%li)", dev, 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);
 }
 
@@ -116,42 +113,52 @@ void _z_close_serial(_z_sys_net_socket_t* sock) {
 
         sock->_serial = 0;
         sock->_rx_stream = 0;
-
-        z_free(sock->tmp_buf);
-        z_free(sock->raw_buf);
     }
     _Z_DEBUG("Serial port closed");
 }
 
 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++) {
         size_t len = 0;
-        len = furi_stream_buffer_receive(sock._rx_stream, &sock.raw_buf[i], 1, FLIPPER_SERIAL_TIMEOUT_MS);
+        len = furi_stream_buffer_receive(sock._rx_stream, &raw_buf[i], 1, FLIPPER_SERIAL_TIMEOUT_MS);
         if (!len) {
             return SIZE_MAX;
         }
         rb++;
 
-        if (sock.raw_buf[i] == (uint8_t)0x00) {
+        if (raw_buf[i] == (uint8_t)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;
     }
 
-    furi_hal_serial_tx(sock._serial, sock.raw_buf, ret);
+    furi_hal_serial_tx(sock._serial, raw_buf, ret);
     furi_hal_serial_tx_wait_complete(sock._serial);
 
+
+    z_free(raw_buf);
+    z_free(tmp_buf);
+
     return len;
 }
 #endif

diff --git a/src/system/mbed/network.cpp b/src/system/mbed/network.cpp
@@ -332,9 +332,6 @@ z_result_t _z_open_serial_from_pins(_z_sys_net_socket_t *sock, uint32_t txpin, u
         ret = _Z_ERR_GENERIC;
     }
 
-    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);
 }
 
@@ -373,38 +370,46 @@ z_result_t _z_listen_serial_from_dev(_z_sys_net_socket_t *sock, char *device, ui
     return ret;
 }
 
-void _z_close_serial(_z_sys_net_socket_t *sock) {
-    delete sock->_serial;
-    z_free(sock->tmp_buf);
-    z_free(sock->raw_buf);
-}
+void _z_close_serial(_z_sys_net_socket_t *sock) { delete sock->_serial; }
 
 size_t _z_read_serial(const _z_sys_net_socket_t sock, 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++) {
-        sock._serial->read(&sock.raw_buf[i], 1);
+        sock._serial->read(&raw_buf[i], 1);
         rb++;
         if (before_cobs[i] == (uint8_t)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;
     }
 
-    ssize_t wb = sock._serial->write(after_cobs, sock.raw_buf, ret);
+    ssize_t wb = sock._serial->write(after_cobs, raw_buf, ret);
     if (wb != (ssize_t)ret) {
         ret = SIZE_MAX;
     }
 
+    z_free(raw_buf);
+    z_free(tmp_buf);
+
     return len;
 }
 #endif