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/**
 * @author Pavel Kirienko <pavel.kirienko@gmail.com>
 */

#pragma once

#include <systemlib/err.h>
#include <uavcan/uavcan.hpp>
#include <uavcan/helpers/heap_based_pool_allocator.hpp>

// TODO: Entire UAVCAN application should be moved into a namespace later; this is the first step.
namespace uavcan_node
{

struct AllocatorSynchronizer
{
	const ::irqstate_t state = ::irqsave();
	~AllocatorSynchronizer() { ::irqrestore(state); }
};

struct Allocator : public uavcan::HeapBasedPoolAllocator<uavcan::MemPoolBlockSize, AllocatorSynchronizer>
{
	static constexpr unsigned CapacitySoftLimit = 250;
	static constexpr unsigned CapacityHardLimit = 500;

	Allocator() :
		uavcan::HeapBasedPoolAllocator<uavcan::MemPoolBlockSize, AllocatorSynchronizer>(CapacitySoftLimit, CapacityHardLimit)
	{ }

	~Allocator()
	{
	        if (getNumAllocatedBlocks() > 0)
	        {
	        	warnx("UAVCAN LEAKS MEMORY: %u BLOCKS (%u BYTES) LOST",
	        		getNumAllocatedBlocks(), getNumAllocatedBlocks() * uavcan::MemPoolBlockSize);
	        }
	}
};

}
