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Update olga scheduler and reduce memory pressure in cy_can #74

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Merged
pavel-kirienko merged 2 commits into from
Jul 25, 2026
+32 −23
Merged

Update olga scheduler and reduce memory pressure in cy_can #74

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3ca5b3d
Update the vendored olga scheduler
pavel-kirienko Jul 25, 2026
d1208c2
Reduce the UNICAST_EXTENT_INITIAL in cy_can to reduce memory pressure
pavel-kirienko Jul 25, 2026
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4 changes: 2 additions & 2 deletions cy_can/cy_can.c
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Original file line number Diff line number Diff line change
Expand Up @@ -35,8 +35,8 @@
#error "Invalid CY_CAN_NONBLOCKING_SPIN_LIMIT"
#endif

/// Default extent for incoming unicast messages; will grow as needed.
#define UNICAST_EXTENT_INITIAL (HEADER_BYTES + 1024U)
/// Default extent for incoming unicast messages; will grow as needed. Chosen rather arbitrarily.
#define UNICAST_EXTENT_INITIAL (CANARD_MTU_CAN_FD - 1U)

typedef struct
{
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51 changes: 30 additions & 21 deletions lib/olga_scheduler.h
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Original file line number Diff line number Diff line change
Expand Up @@ -19,9 +19,17 @@

#pragma once

#ifndef OLGA_ASSERT
#include <assert.h>
#define OLGA_ASSERT(x) assert(x)
#endif

#ifndef CAVL2_ASSERT
#define CAVL2_ASSERT(x) OLGA_ASSERT(x)
#endif

#include <cavl2.h> // Add to your include paths: https://github.com/pavel-kirienko/cavl

#include <assert.h>
#include <stdint.h>

#ifdef __cplusplus
Expand All @@ -33,6 +41,7 @@ extern "C"

typedef struct olga_t olga_t;
typedef struct olga_event_t olga_event_t;
typedef void (*olga_handler_t)(olga_t*, olga_event_t*, int64_t now);

/// Represents a user-handled future event.
/// When the handler is invoked, the event is already removed from the scheduler.
Expand All @@ -41,11 +50,11 @@ typedef struct olga_event_t olga_event_t;
/// The time units can be arbitrary.
struct olga_event_t
{
CAVL2_T base;
int64_t deadline;
uint64_t seqno;
void (*handler)(olga_t*, olga_event_t*, int64_t now);
void* user;
CAVL2_T base;
int64_t deadline;
uint64_t seqno;
olga_handler_t handler;
void* user;
};

// Convenience initializer for a fresh event (all fields zeroed, base pointers NULL).
Expand Down Expand Up @@ -78,8 +87,8 @@ typedef struct olga_spin_result_t
/// The time units can be arbitrary.
static inline void olga_init(olga_t* const self, void* const user, int64_t (*const now)(olga_t* sched))
{
assert(self != NULL);
assert(now != NULL);
OLGA_ASSERT(self != NULL);
OLGA_ASSERT(now != NULL);
self->events = NULL;
self->next_seqno = 0U;
self->now = now;
Expand Down Expand Up @@ -108,15 +117,15 @@ static inline CAVL2_RELATION olga_private_compare(const void* user, const CAVL2_
/// The event must be either zero-initialized using OLGA_EVENT_INIT or have been used at least once.
/// Events are already canceled prior to handler invocation, so it is safe to re-register immediately from the handler.
/// The complexity is logarithmic in the number of pending events.
static inline void olga_defer(olga_t* const self,
const int64_t deadline,
void* const user,
void (*const handler)(olga_t*, olga_event_t*, int64_t now),
olga_event_t* const out_event)
static inline void olga_defer(olga_t* const self,
const int64_t deadline,
void* const user,
const olga_handler_t handler,
olga_event_t* const out_event)
{
assert(self != NULL);
assert(handler != NULL);
assert(out_event != NULL);
OLGA_ASSERT(self != NULL);
OLGA_ASSERT(handler != NULL);
OLGA_ASSERT(out_event != NULL);
(void)cavl2_remove_if(&self->events, &out_event->base);
out_event->deadline = deadline;
out_event->seqno = self->next_seqno++;
Expand All @@ -130,17 +139,17 @@ static inline void olga_defer(olga_t* const self,
/// The complexity is logarithmic in the number of pending events.
static inline void olga_cancel(olga_t* const self, olga_event_t* const event)
{
assert(self != NULL);
assert(event != NULL);
OLGA_ASSERT(self != NULL);
OLGA_ASSERT(event != NULL);
(void)cavl2_remove_if(&self->events, &event->base);
event->deadline = INT64_MIN;
}

/// True if the event is currently pending in the scheduler.
static inline bool olga_is_pending(const olga_t* const self, const olga_event_t* const event)
{
assert(self != NULL);
assert(event != NULL);
OLGA_ASSERT(self != NULL);
OLGA_ASSERT(event != NULL);
return cavl2_is_inserted(self->events, &event->base);
}

Expand All @@ -150,7 +159,7 @@ static inline bool olga_is_pending(const olga_t* const self, const olga_event_t*
/// This method should be invoked regularly to pump the event loop.
static inline olga_spin_result_t olga_spin(olga_t* const self)
{
assert(self != NULL);
OLGA_ASSERT(self != NULL);
olga_spin_result_t out = { .next_deadline = INT64_MAX, .worst_lateness = 0, .now = INT64_MIN };
for (;;) { // GCOVR_EXCL_LINE
olga_event_t* const event = (olga_event_t*)cavl2_min(self->events);
Expand Down