canard++: un-inline handler list methods

Mitigates flash impact of semaphore changes.
dronecan · Mar 4, 2025 · 9b05a4d · 9b05a4d
1 parent 19ea632
commit 9b05a4d
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Showing 3 changed files with 11 additions and 11 deletions.
diff --git a/canard/service_client.h b/canard/service_client.h
@@ -36,7 +36,7 @@ class Client : public HandlerList, public Sender {
     /// @brief Client constructor
     /// @param _interface Interface object
     /// @param _cb Callback object
-    Client(Interface &_interface, Callback<rsptype> &_cb) :
+    Client(Interface &_interface, Callback<rsptype> &_cb) NOINLINE_FUNC :
     HandlerList(CanardTransferTypeResponse, rsptype::cxx_iface::ID, rsptype::cxx_iface::SIGNATURE, _interface.get_index()),
     Sender(_interface),
     server_node_id(255),
@@ -53,7 +53,7 @@ class Client : public HandlerList, public Sender {
     Client(const Client&) = delete;
 
     // destructor, remove the entry from the singly-linked list
-    ~Client() {
+    ~Client() NOINLINE_FUNC {
 #ifdef WITH_SEMAPHORE
         WITH_SEMAPHORE(sem[index]);
 #endif
@@ -74,7 +74,7 @@ class Client : public HandlerList, public Sender {
 
     /// @brief handles incoming messages
     /// @param transfer transfer object of the request
-    void handle_message(const CanardRxTransfer& transfer) override {
+    void handle_message(const CanardRxTransfer& transfer) override NOINLINE_FUNC {
         rsptype msg {};
         if (rsptype::cxx_iface::rsp_decode(&transfer, &msg)) {
             // invalid decode
@@ -106,7 +106,7 @@ class Client : public HandlerList, public Sender {
     /// @param msg message containing the request
     /// @param canfd true if CAN FD is to be used
     /// @return true if the request was put into the queue successfully
-    bool request(uint8_t destination_node_id, typename rsptype::cxx_iface::reqtype& msg, bool canfd) {
+    bool request(uint8_t destination_node_id, typename rsptype::cxx_iface::reqtype& msg, bool canfd) NOINLINE_FUNC {
 #if !CANARD_ENABLE_CANFD
         if (canfd) {
             return false;

diff --git a/canard/service_server.h b/canard/service_server.h
@@ -37,7 +37,7 @@ class Server : public HandlerList {
     /// @param _interface Interface object
     /// @param _cb Callback object
     /// @param _index HandlerList instance id
-    Server(Interface &_interface, Callback<reqtype> &_cb) : 
+    Server(Interface &_interface, Callback<reqtype> &_cb) NOINLINE_FUNC :
     HandlerList(CanardTransferTypeRequest, reqtype::cxx_iface::ID, reqtype::cxx_iface::SIGNATURE, _interface.get_index()),
     interface(_interface),
     cb(_cb) {
@@ -50,7 +50,7 @@ class Server : public HandlerList {
     // delete copy constructor and assignment operator
     Server(const Server&) = delete;
 
-    ~Server() {
+    ~Server() NOINLINE_FUNC {
 #ifdef WITH_SEMAPHORE
         WITH_SEMAPHORE(sem[index]);
 #endif
@@ -59,7 +59,7 @@ class Server : public HandlerList {
 
     /// @brief handles incoming messages
     /// @param transfer transfer object of the request
-    void handle_message(const CanardRxTransfer& transfer) override {
+    void handle_message(const CanardRxTransfer& transfer) override NOINLINE_FUNC {
         reqtype msg {};
         if (reqtype::cxx_iface::req_decode(&transfer, &msg)) {
             // invalid decode
@@ -74,7 +74,7 @@ class Server : public HandlerList {
     /// @param transfer transfer object of the request
     /// @param msg message containing the response
     /// @return true if the response was put into the queue successfully
-    bool respond(const CanardRxTransfer& transfer, typename reqtype::cxx_iface::rsptype& msg) {
+    bool respond(const CanardRxTransfer& transfer, typename reqtype::cxx_iface::rsptype& msg) NOINLINE_FUNC {
         // encode the message
         uint32_t len = reqtype::cxx_iface::rsp_encode(&msg, rsp_buf
 #if CANARD_ENABLE_CANFD

diff --git a/canard/subscriber.h b/canard/subscriber.h
@@ -38,7 +38,7 @@ class Subscriber : public HandlerList {
     /// @brief Subscriber Constructor
     /// @param _cb callback function
     /// @param _index HandlerList instance id
-    Subscriber(Callback<msgtype> &_cb, uint8_t _index) :
+    Subscriber(Callback<msgtype> &_cb, uint8_t _index) NOINLINE_FUNC :
     HandlerList(CanardTransferTypeBroadcast, msgtype::cxx_iface::ID, msgtype::cxx_iface::SIGNATURE, _index),
     cb (_cb) {
 #ifdef WITH_SEMAPHORE
@@ -53,7 +53,7 @@ class Subscriber : public HandlerList {
     Subscriber(const Subscriber&) = delete;
 
     // destructor, remove the entry from the singly-linked list
-    ~Subscriber() {
+    ~Subscriber() NOINLINE_FUNC {
 #ifdef WITH_SEMAPHORE
         WITH_SEMAPHORE(sem[index]);
 #endif
@@ -74,7 +74,7 @@ class Subscriber : public HandlerList {
 
     /// @brief parse the message and call the callback
     /// @param transfer transfer object
-    void handle_message(const CanardRxTransfer& transfer) override {
+    void handle_message(const CanardRxTransfer& transfer) override NOINLINE_FUNC {
         msgtype msg {};
         if (msgtype::cxx_iface::decode(&transfer, &msg)) {
             // invalid decode