No malloc for default alarm pool an pheap docs/cleanup (#143)

* Statically allocate the default timer pool (to avoid pulling in malloc); doxygen for pheap (and some function name changes)

* fix comments

src/common/pico_time/time.c

@@ -33,26 +33,25 @@ typedef struct alarm_pool {
 } alarm_pool_t;
 
 #if !PICO_TIME_DEFAULT_ALARM_POOL_DISABLED
-static alarm_pool_t *default_alarm_pool;
+// To avoid bringing in calloc, we statically allocate the arrays and the heap
+PHEAP_DEFINE_STATIC(default_alarm_pool_heap, PICO_TIME_DEFAULT_ALARM_POOL_MAX_TIMERS);
+static alarm_pool_entry_t default_alarm_pool_entries[PICO_TIME_DEFAULT_ALARM_POOL_MAX_TIMERS];
+static uint8_t default_alarm_pool_entry_ids_high[PICO_TIME_DEFAULT_ALARM_POOL_MAX_TIMERS];
+
+static alarm_pool_t default_alarm_pool = {
+        .heap = &default_alarm_pool_heap,
+        .entries = default_alarm_pool_entries,
+        .entry_ids_high = default_alarm_pool_entry_ids_high,
+};
+
+static inline bool default_alarm_pool_initialized(void) {
+    return default_alarm_pool.lock != NULL;
+}
 #endif
+
 static alarm_pool_t *pools[NUM_TIMERS];
+static void alarm_pool_post_alloc_init(alarm_pool_t *pool, uint hardware_alarm_num);
 
-void alarm_pool_init_default() {
-#if !PICO_TIME_DEFAULT_ALARM_POOL_DISABLED
-    // allow multiple calls for ease of use from host tests
-    if (!default_alarm_pool) {
-        default_alarm_pool = alarm_pool_create(PICO_TIME_DEFAULT_ALARM_POOL_HARDWARE_ALARM_NUM,
-                                               PICO_TIME_DEFAULT_ALARM_POOL_MAX_TIMERS);
-    }
-#endif
-}
-
-#if !PICO_TIME_DEFAULT_ALARM_POOL_DISABLED
-alarm_pool_t *alarm_pool_get_default() {
-    assert(default_alarm_pool);
-    return default_alarm_pool;
-}
-#endif
 
 static inline alarm_pool_entry_t *get_entry(alarm_pool_t *pool, pheap_node_id_t id) {
     assert(id && id <= pool->heap->max_nodes);
@@ -73,11 +72,30 @@ static inline alarm_id_t make_public_id(uint8_t id_high, pheap_node_id_t id) {
     return (alarm_id_t)(((uint)id_high << 8u * sizeof(id)) | id);
 }
 
+void alarm_pool_init_default() {
+#if !PICO_TIME_DEFAULT_ALARM_POOL_DISABLED
+    // allow multiple calls for ease of use from host tests
+    if (!default_alarm_pool_initialized()) {
+        ph_post_alloc_init(default_alarm_pool.heap, PICO_TIME_DEFAULT_ALARM_POOL_MAX_TIMERS,
+                           timer_pool_entry_comparator, &default_alarm_pool);
+        alarm_pool_post_alloc_init(&default_alarm_pool,
+                                   PICO_TIME_DEFAULT_ALARM_POOL_HARDWARE_ALARM_NUM);
+    }
+#endif
+}
+
+#if !PICO_TIME_DEFAULT_ALARM_POOL_DISABLED
+alarm_pool_t *alarm_pool_get_default() {
+    assert(default_alarm_pool_initialized());
+    return &default_alarm_pool;
+}
+#endif
+
 static pheap_node_id_t add_alarm_under_lock(alarm_pool_t *pool, absolute_time_t time, alarm_callback_t callback,
                                        void *user_data, pheap_node_id_t reuse_id, bool create_if_past, bool *missed) {
     pheap_node_id_t id;
     if (reuse_id) {
-        assert(!ph_contains(pool->heap, reuse_id));
+        assert(!ph_contains_node(pool->heap, reuse_id));
         id = reuse_id;
     } else {
         id = ph_new_node(pool->heap);
@@ -87,10 +105,10 @@ static pheap_node_id_t add_alarm_under_lock(alarm_pool_t *pool, absolute_time_t
         entry->target = time;
         entry->callback = callback;
         entry->user_data = user_data;
-        if (id == ph_insert(pool->heap, id)) {
+        if (id == ph_insert_node(pool->heap, id)) {
             bool is_missed = hardware_alarm_set_target(pool->hardware_alarm_num, time);
             if (is_missed && !create_if_past) {
-                ph_delete(pool->heap, id);
+                ph_remove_and_free_node(pool->heap, id);
             }
             if (missed) *missed = is_missed;
         }
@@ -114,8 +132,8 @@ static void alarm_pool_alarm_callback(uint alarm_num) {
         if (next_id) {
             alarm_pool_entry_t *entry = get_entry(pool, next_id);
             if (absolute_time_diff_us(now, entry->target) <= 0) {
-                // we reserve the id in case we need to re-add the timer
+                // we don't free the id in case we need to re-add the timer
-                pheap_node_id_t __unused removed_id = ph_remove_head_reserve(pool->heap, true);
+                pheap_node_id_t __unused removed_id = ph_remove_head(pool->heap, false);
                 assert(removed_id == next_id); // will be true under lock
                 target = entry->target;
                 callback = entry->callback;
@@ -143,7 +161,7 @@ static void alarm_pool_alarm_callback(uint alarm_num) {
                                      true, NULL);
             } else {
                 // need to return the id to the heap
-                ph_add_to_free_list(pool->heap, next_id);
+                ph_free_node(pool->heap, next_id);
                 (*get_entry_id_high(pool, next_id))++; // we bump it for next use of id
             }
             pool->alarm_in_progress = 0;
@@ -155,20 +173,30 @@ static void alarm_pool_alarm_callback(uint alarm_num) {
 
 // note the timer is create with IRQs on this core
 alarm_pool_t *alarm_pool_create(uint hardware_alarm_num, uint max_timers) {
-    hardware_alarm_claim(hardware_alarm_num);
-    hardware_alarm_cancel(hardware_alarm_num);
-    hardware_alarm_set_callback(hardware_alarm_num, alarm_pool_alarm_callback);
     alarm_pool_t *pool = (alarm_pool_t *) malloc(sizeof(alarm_pool_t));
-    pool->lock = spin_lock_instance(next_striped_spin_lock_num());
     pool->heap = ph_create(max_timers, timer_pool_entry_comparator, pool);
     pool->entries = (alarm_pool_entry_t *)calloc(max_timers, sizeof(alarm_pool_entry_t));
     pool->entry_ids_high = (uint8_t *)calloc(max_timers, sizeof(uint8_t));
-    pool->hardware_alarm_num = (uint8_t)hardware_alarm_num;
+    alarm_pool_post_alloc_init(pool, hardware_alarm_num);
-    pools[hardware_alarm_num] = pool;
     return pool;
 }
 
+void alarm_pool_post_alloc_init(alarm_pool_t *pool, uint hardware_alarm_num) {
+    hardware_alarm_claim(hardware_alarm_num);
+    hardware_alarm_cancel(hardware_alarm_num);
+    hardware_alarm_set_callback(hardware_alarm_num, alarm_pool_alarm_callback);
+    pool->lock = spin_lock_instance(next_striped_spin_lock_num());
+    pool->hardware_alarm_num = (uint8_t) hardware_alarm_num;
+    pools[hardware_alarm_num] = pool;
+}
+
 void alarm_pool_destroy(alarm_pool_t *pool) {
+#if !PICO_TIME_DEFAULT_ALARM_POOL_DISABLED
+    if (pool == &default_alarm_pool) {
+        assert(false); // attempt to delete default alarm pool
+        return;
+    }
+#endif
     assert(pools[pool->hardware_alarm_num] == pool);
     pools[pool->hardware_alarm_num] = NULL;
     // todo clear out timers
@@ -219,12 +247,12 @@ bool alarm_pool_cancel_alarm(alarm_pool_t *pool, alarm_id_t alarm_id) {
     bool rc = false;
     uint32_t save = spin_lock_blocking(pool->lock);
     pheap_node_id_t id = (pheap_node_id_t) alarm_id;
-    if (ph_contains(pool->heap, id)) {
+    if (ph_contains_node(pool->heap, id)) {
         assert(alarm_id != pool->alarm_in_progress); // it shouldn't be in the heap if it is in progress
         // check we have the right high value
         uint8_t id_high = (uint8_t)((uint)alarm_id >> 8u * sizeof(pheap_node_id_t));
         if (id_high == *get_entry_id_high(pool, id)) {
-            rc = ph_delete(pool->heap, id);
+            rc = ph_remove_and_free_node(pool->heap, id);
             // note we don't bother to remove the actual hardware alarm timeout...
             // it will either do callbacks or not depending on other alarms, and reset the next timeout itself
             assert(rc);

src/common/pico_util/include/pico/util/pheap.h

@@ -29,7 +29,7 @@ extern "C" {
  *
  * NOTE: this class is not safe for concurrent usage. It should be externally protected. Furthermore
  * if used concurrently, the caller needs to protect around their use of the returned id.
- * for example, ph_remove_head returns the id of an element that is no longer in the heap.
+ * for example, ph_remove_and_free_head returns the id of an element that is no longer in the heap.
  *
  * The user can still use this to look at the data in their companion array, however obviously further operations
  * on the heap may cause them to overwrite that data as the id may be reused on subsequent operations
@@ -53,7 +53,11 @@ typedef struct pheap_node {
     pheap_node_id_t child, sibling, parent;
 } pheap_node_t;
 
-// return true if a < b in natural order
+/**
+ * A user comparator function for nodes in a pairing heap.
+ *
+ * \return true if a < b in natural order. Note this relative ordering must be stable from call to call.
+ */
 typedef bool (*pheap_comparator)(void *user_data, pheap_node_id_t a, pheap_node_id_t b);
 
 typedef struct pheap {
@@ -67,17 +71,42 @@ typedef struct pheap {
     pheap_node_id_t free_tail_id;
 } pheap_t;
 
+/**
+ * Create a pairing heap, which effectively maintains an efficient sorted ordering
+ * of nodes. The heap itself stores no user per-node state, it is expected
+ * that the user maintains a companion array. A comparator function must
+ * be provided so that the heap implementation can determine the relative ordering of nodes
+ *
+ * \param max_nodes the maximum number of nodes that may be in the heap (this is bounded by
+ *                  PICO_PHEAP_MAX_ENTRIES which defaults to 255 to be able to store indexes
+ *                  in a single byte).
+ * \param comparator the node comparison function
+ * \param user_data a user data pointer associated with the heap that is provided in callbacks
+ * \return a newly allocated and initialized heap
+ */
 pheap_t *ph_create(uint max_nodes, pheap_comparator comparator, void *user_data);
 
+/**
+ * Removes all nodes from the pairing heap
+ * \param heap the heap
+ */
 void ph_clear(pheap_t *heap);
 
+/**
+ * De-allocates a pairing heap
+ *
+ * Note this method must *ONLY* be called on heaps created by ph_create()
+ * \param heap the heap
+ */
 void ph_destroy(pheap_t *heap);
 
+// internal method
 static inline pheap_node_t *ph_get_node(pheap_t *heap, pheap_node_id_t id) {
     assert(id && id <= heap->max_nodes);
     return heap->nodes + id - 1;
 }
 
+// internal method
 static void ph_add_child_node(pheap_t *heap, pheap_node_id_t parent_id, pheap_node_id_t child_id) {
     pheap_node_t *n = ph_get_node(heap, parent_id);
     assert(parent_id);
@@ -93,6 +122,7 @@ static void ph_add_child_node(pheap_t *heap, pheap_node_id_t parent_id, pheap_no
     }
 }
 
+// internal method
 static pheap_node_id_t ph_merge_nodes(pheap_t *heap, pheap_node_id_t a, pheap_node_id_t b) {
     if (!a) return b;
     if (!b) return a;
@@ -105,17 +135,34 @@ static pheap_node_id_t ph_merge_nodes(pheap_t *heap, pheap_node_id_t a, pheap_no
     }
 }
 
+/**
+ * Allocate a new node from the unused space in the heap
+ *
+ * \param heap the heap
+ * \return an identifier for the node, or 0 if the heap is full
+ */
 static inline pheap_node_id_t ph_new_node(pheap_t *heap) {
     if (!heap->free_head_id) return 0;
     pheap_node_id_t id = heap->free_head_id;
-    heap->free_head_id = ph_get_node(heap, id)->sibling;
+    pheap_node_t *hn = ph_get_node(heap, id);
+    heap->free_head_id = hn->sibling;
     if (!heap->free_head_id) heap->free_tail_id = 0;
+    hn->child = hn->sibling = hn->parent = 0;
     return id;
 }
 
-// note this will callback the comparator for the node
+/**
-// returns the (new) root of the heap
+ * Inserts a node into the heap.
-static inline pheap_node_id_t ph_insert(pheap_t *heap, pheap_node_id_t id) {
+ *
+ * This method inserts a node (previously allocated by ph_new_node())
+ * into the heap, determining the correct order by calling
+ * the heap's comparator
+ *
+ * \param heap the heap
+ * \param id the id of the node to insert
+ * \return the id of the new head of the pairing heap (i.e. node that compares first)
+ */
+static inline pheap_node_id_t ph_insert_node(pheap_t *heap, pheap_node_id_t id) {
     assert(id);
     pheap_node_t *hn = ph_get_node(heap, id);
     hn->child = hn->sibling = hn->parent = 0;
@@ -123,31 +170,120 @@ static inline pheap_node_id_t ph_insert(pheap_t *heap, pheap_node_id_t id) {
     return heap->root_id;
 }
 
+/**
+ * Returns the head node in the heap, i.e. the node
+ * which compares first, but without removing it from the heap.
+ *
+ * \param heap the heap
+ * \return the current head node id
+ */
 static inline pheap_node_id_t ph_peek_head(pheap_t *heap) {
     return heap->root_id;
 }
 
-pheap_node_id_t ph_remove_head_reserve(pheap_t *heap, bool reserve);
+/**
+ * Remove the head node from the pairing heap. This head node is
+ * the node which compares first in the logical ordering provided
+ * by the comparator.
+ *
+ * Note that in the case of free == true, the returned id is no longer
+ * allocated and may be re-used by future node allocations, so the caller
+ * should retrieve any per node state from the companion array before modifying
+ * the heap further.
+ *
+ * @param heap the heap
+ * @param free true if the id is also to be freed; false if not - useful if the caller
+ *        may wish to re-insert an item with the same id)
+ * @return the old head node id.
+ */
+pheap_node_id_t ph_remove_head(pheap_t *heap, bool free);
 
-static inline pheap_node_id_t ph_remove_head(pheap_t *heap) {
+/**
-    return ph_remove_head_reserve(heap, false);
+ * Remove the head node from the pairing heap. This head node is
+ * the node which compares first in the logical ordering provided
+ * by the comparator.
+ *
+ * Note that the returned id will be freed, and thus may be re-used by future node allocations,
+ * so the caller should retrieve any per node state from the companion array before modifying
+ * the heap further.
+ *
+ * @param heap the heap
+ * @return the old head node id.
+ */
+static inline pheap_node_id_t ph_remove_and_free_head(pheap_t *heap) {
+    return ph_remove_head(heap, true);
 }
 
-static inline bool ph_contains(pheap_t *heap, pheap_node_id_t id) {
+/**
+ * Remove and free an arbitrary node from the pairing heap. This is a more
+ * costly operation than removing the head via ph_remove_and_free_head()
+ *
+ * @param heap the heap
+ * @param id the id of the node to free
+ * @return true if the the node was in the heap, false otherwise
+ */
+bool ph_remove_and_free_node(pheap_t *heap, pheap_node_id_t id);
+
+/**
+ * Determine if the heap contains a given node. Note containment refers
+ * to whether the node is inserted (ph_insert_node()) vs allocated (ph_new_node())
+ *
+ * @param heap the heap
+ * @param id the id of the node
+ * @return true if the heap contains a node with the given id, false otherwise.
+ */
+static inline bool ph_contains_node(pheap_t *heap, pheap_node_id_t id) {
     return id == heap->root_id || ph_get_node(heap, id)->parent;
 }
 
-bool ph_delete(pheap_t *heap, pheap_node_id_t id);
 
-static inline void ph_add_to_free_list(pheap_t *heap, pheap_node_id_t id) {
+/**
-    assert(id && !ph_contains(heap, id));
+ * Free a node that is not currently in the heap, but has been allocated
+ *
+ * @param heap the heap
+ * @param id the id of the node
+ */
+static inline void ph_free_node(pheap_t *heap, pheap_node_id_t id) {
+    assert(id && !ph_contains_node(heap, id));
     if (heap->free_tail_id) {
         ph_get_node(heap, heap->free_tail_id)->sibling = id;
     }
     heap->free_tail_id = id;
 }
 
-void ph_dump(pheap_t *heap, void (*dump_key)(pheap_node_id_t, void *), void *user_data);
+/**
+ * Print a representation of the heap for debugging
+ *
+ * @param heap the heap
+ * @param dump_key a method to print a node value
+ * @param user_data the user data to pass to the dump_key method
+ */
+void ph_dump(pheap_t *heap, void (*dump_key)(pheap_node_id_t id, void *user_data), void *user_data);
+
+/**
+ * Initialize a statically allocated heap (ph_create() using the C heap).
+ * The heap member `nodes` must be allocated of size max_nodes.
+ *
+ * @param heap the heap
+ * @param max_nodes the max number of nodes in the heap (matching the size of the heap's nodes array)
+ * @param comparator the comparator for the heap
+ * @param user_data the user data for the heap.
+ */
+void ph_post_alloc_init(pheap_t *heap, uint max_nodes, pheap_comparator comparator, void *user_data);
+
+/**
+ * Define a statically allocated pairing heap. This must be initialized
+ * by ph_post_alloc_init
+ */
+#define PHEAP_DEFINE_STATIC(name, _max_nodes) \
+    static_assert(_max_nodes && _max_nodes < (1u << (8 * sizeof(pheap_node_id_t))), ""); \
+    static pheap_node_t name ## _nodes[_max_nodes]; \
+    static pheap_t name = { \
+            .nodes = name ## _nodes, \
+            .max_nodes = _max_nodes \
+    };
+
+
 #ifdef __cplusplus
 }
 #endif

src/common/pico_util/pheap.c

@@ -9,14 +9,19 @@
 #include "pico/util/pheap.h"
 
 pheap_t *ph_create(uint max_nodes, pheap_comparator comparator, void *user_data) {
-    invalid_params_if(PHEAP, !max_nodes || max_nodes >= (1u << sizeof(pheap_node_id_t)));
+    invalid_params_if(PHEAP, !max_nodes || max_nodes >= (1u << (8 * sizeof(pheap_node_id_t))));
     pheap_t *heap = calloc(1, sizeof(pheap_t));
+    heap->nodes = calloc(max_nodes, sizeof(pheap_node_t));
+    ph_post_alloc_init(heap, max_nodes, comparator, user_data);
+    return heap;
+}
+
+void ph_post_alloc_init(pheap_t *heap, uint max_nodes, pheap_comparator comparator, void *user_data) {
+    invalid_params_if(PHEAP, !max_nodes || max_nodes >= (1u << (8 * sizeof(pheap_node_id_t))));
     heap->max_nodes = (pheap_node_id_t) max_nodes;
     heap->comparator = comparator;
-    heap->nodes = calloc(max_nodes, sizeof(pheap_node_t));
     heap->user_data = user_data;
     ph_clear(heap);
-    return heap;
 }
 
 void ph_clear(pheap_t *heap) {
@@ -47,13 +52,13 @@ pheap_node_id_t ph_merge_two_pass(pheap_t *heap, pheap_node_id_t id) {
     }
 }
 
-static pheap_node_id_t ph_remove_any_head(pheap_t *heap, pheap_node_id_t root_id, bool reserve) {
+static pheap_node_id_t ph_remove_any_head(pheap_t *heap, pheap_node_id_t root_id, bool free) {
     assert(root_id);
 //    printf("Removing head %d (parent %d sibling %d)\n", root_id, ph_get_node(heap, root_id)->parent, ph_get_node(heap, root_id)->sibling);
     assert(!ph_get_node(heap, root_id)->sibling);
     assert(!ph_get_node(heap, root_id)->parent);
     pheap_node_id_t new_root_id = ph_merge_two_pass(heap, ph_get_node(heap, root_id)->child);
-    if (!reserve) {
+    if (free) {
         if (heap->free_tail_id) {
             ph_get_node(heap, heap->free_tail_id)->sibling = root_id;
         }
@@ -64,18 +69,17 @@ static pheap_node_id_t ph_remove_any_head(pheap_t *heap, pheap_node_id_t root_id
     return new_root_id;
 }
 
-pheap_node_id_t ph_remove_head_reserve(pheap_t *heap, bool reserve) {
+pheap_node_id_t ph_remove_head(pheap_t *heap, bool free) {
     pheap_node_id_t old_root_id = ph_peek_head(heap);
-    heap->root_id = ph_remove_any_head(heap, old_root_id, reserve);
+    heap->root_id = ph_remove_any_head(heap, old_root_id, free);
     return old_root_id;
 }
 
-#include <stdio.h>
+bool ph_remove_and_free_node(pheap_t *heap, pheap_node_id_t id) {
-bool ph_delete(pheap_t *heap, pheap_node_id_t id) {
     // 1) trivial cases
     if (!id) return false;
     if (id == heap->root_id) {
-        ph_remove_head(heap);
+        ph_remove_and_free_head(heap);
         return true;
     }
     // 2) unlink the node from the tree
@@ -101,7 +105,7 @@ bool ph_delete(pheap_t *heap, pheap_node_id_t id) {
     node->sibling = node->parent = 0;
 //    ph_dump(heap, NULL, NULL);
     // 3) remove it from the head of its own subtree
-    pheap_node_id_t new_sub_tree = ph_remove_any_head(heap, id, false);
+    pheap_node_id_t new_sub_tree = ph_remove_any_head(heap, id, true);
     assert(new_sub_tree != heap->root_id);
     heap->root_id = ph_merge_nodes(heap, heap->root_id, new_sub_tree);
     return true;