Merge pull request #2404 from PX4/master_uavcan_memory

Compile Time - Conditional inclusion of the Node Allocation and FW Server

src/modules/uavcan/uavcan_main.cpp

@@ -53,14 +53,15 @@
 #include <drivers/drv_pwm_output.h>
 
 #include "uavcan_main.hpp"
-#include <uavcan_posix/dynamic_node_id_server/file_event_tracer.hpp>
-#include <uavcan_posix/dynamic_node_id_server/file_storage_backend.hpp>
-
-#include <uavcan_posix/firmware_version_checker.hpp>
 
+#if defined(USE_FW_NODE_SERVER)
+# include <uavcan_posix/dynamic_node_id_server/file_event_tracer.hpp>
+# include <uavcan_posix/dynamic_node_id_server/file_storage_backend.hpp>
+# include <uavcan_posix/firmware_version_checker.hpp>
 //todo:The Inclusion of file_server_backend is killing
 // #include <sys/types.h> and leaving OK undefined
-#define OK 0
+# define OK 0
+#endif
 
 /**
  * @file uavcan_main.cpp
@@ -75,20 +76,26 @@
  * UavcanNode
  */
 UavcanNode *UavcanNode::_instance;
+#if defined(USE_FW_NODE_SERVER)
 uavcan::dynamic_node_id_server::CentralizedServer *UavcanNode::_server_instance;
 uavcan_posix::dynamic_node_id_server::FileEventTracer tracer;
 uavcan_posix::dynamic_node_id_server::FileStorageBackend storage_backend;
 uavcan_posix::FirmwareVersionChecker fw_version_checker;
-
+#endif
 UavcanNode::UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &system_clock) :
 	CDev("uavcan", UAVCAN_DEVICE_PATH),
 	_node(can_driver, system_clock),
 	_node_mutex(),
+#if !defined(USE_FW_NODE_SERVER)
+	_esc_controller(_node)
+#else
 	_esc_controller(_node),
 	_fileserver_backend(_node),
 	_node_info_retriever(_node),
 	_fw_upgrade_trigger(_node, fw_version_checker),
 	_fw_server(_node, _fileserver_backend)
+#endif
+
 {
 	_control_topics[0] = ORB_ID(actuator_controls_0);
 	_control_topics[1] = ORB_ID(actuator_controls_1);
@@ -154,7 +161,10 @@ UavcanNode::~UavcanNode()
 	perf_free(_perfcnt_node_spin_elapsed);
 	perf_free(_perfcnt_esc_mixer_output_elapsed);
 	perf_free(_perfcnt_esc_mixer_total_elapsed);
+
+#if defined(USE_FW_NODE_SERVER)
 	delete(_server_instance);
+#endif
 
 }
 
@@ -305,7 +315,7 @@ int UavcanNode::init(uavcan::NodeID node_id)
 		br = br->getSibling();
 	}
 
-
+#if defined(USE_FW_NODE_SERVER)
 	/* Initialize the fw version checker.
 	* giving it it's path
 	*/
@@ -373,6 +383,7 @@ int UavcanNode::init(uavcan::NodeID node_id)
 		return ret;
 	}
 
+#endif
 	/*  Start the Node   */
 
 	return _node.start();

src/modules/uavcan/uavcan_main.hpp

@@ -34,6 +34,7 @@
 #pragma once
 
 #include <px4_config.h>
+
 #include <uavcan_stm32/uavcan_stm32.hpp>
 #include <drivers/device/device.h>
 #include <systemlib/perf_counter.h>
@@ -47,13 +48,13 @@
 #include "actuators/esc.hpp"
 #include "sensors/sensor_bridge.hpp"
 
-
+#if defined(USE_FW_NODE_SERVER)
-#include <uavcan/protocol/dynamic_node_id_server/centralized.hpp>
+# include <uavcan/protocol/dynamic_node_id_server/centralized.hpp>
-#include <uavcan/protocol/node_info_retriever.hpp>
+# include <uavcan/protocol/node_info_retriever.hpp>
-#include <uavcan_posix/basic_file_server_backend.hpp>
+# include <uavcan_posix/basic_file_server_backend.hpp>
-#include <uavcan/protocol/firmware_update_trigger.hpp>
+# include <uavcan/protocol/firmware_update_trigger.hpp>
-#include <uavcan/protocol/file_server.hpp>
+# include <uavcan/protocol/file_server.hpp>
-
+#endif
 
 /**
  * @file uavcan_main.hpp
@@ -147,7 +148,6 @@ private:
 	unsigned		_output_count = 0;		///< number of actuators currently available
 
 	static UavcanNode	*_instance;			///< singleton pointer
-	static uavcan::dynamic_node_id_server::CentralizedServer *_server_instance;              ///< server singleton pointer
 
 	Node			_node;				///< library instance
 	pthread_mutex_t		_node_mutex;
@@ -155,11 +155,14 @@ private:
 	UavcanEscController	_esc_controller;
 
 
+#if defined(USE_FW_NODE_SERVER)
+	static uavcan::dynamic_node_id_server::CentralizedServer *_server_instance;              ///< server singleton pointer
+
 	uavcan_posix::BasicFileSeverBackend _fileserver_backend;
 	uavcan::NodeInfoRetriever  _node_info_retriever;
 	uavcan::FirmwareUpdateTrigger  _fw_upgrade_trigger;
 	uavcan::BasicFileServer        _fw_server;
-
+#endif
 	List<IUavcanSensorBridge *> _sensor_bridges;		///< List of active sensor bridges
 
 	MixerGroup		*_mixers = nullptr;