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dartsim · Apr 5, 2024 · df64a25 · df64a25
1 parent c28350e
commit df64a25
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Showing 7 changed files with 149 additions and 223 deletions.
diff --git a/dart/common/FreeListAllocator.cpp b/dart/common/FreeListAllocator.cpp
@@ -372,7 +372,6 @@ void FreeListAllocator::MemoryBlockHeader::merge(MemoryBlockHeader* other)
 }
 
 //==============================================================================
-#if DART_BUILD_MODE_DEBUG
 bool FreeListAllocator::MemoryBlockHeader::isValid() const
 {
   if (mPrev != nullptr && mPrev->mNext != this) {
@@ -385,6 +384,5 @@ bool FreeListAllocator::MemoryBlockHeader::isValid() const
 
   return true;
 }
-#endif
 
 } // namespace dart::common
diff --git a/dart/common/FreeListAllocator.hpp b/dart/common/FreeListAllocator.hpp
@@ -126,10 +126,8 @@ class FreeListAllocator : public MemoryAllocator
     /// Merges this memory block with the given memory block
     void merge(MemoryBlockHeader* other);
 
-#if DART_BUILD_MODE_DEBUG
     /// [Debug only] Returns whether this memory block is valid
     bool isValid() const;
-#endif
   };
 
   /// Allocates a new memory block for \c sizeToAllocate bytes

diff --git a/dart/common/MemoryManager.cpp b/dart/common/MemoryManager.cpp
@@ -32,7 +32,7 @@
 
 #include "dart/common/MemoryManager.hpp"
 
-#if DART_BUILD_MODE_DEBUG
+#ifndef NDEBUG
   #include "dart/common/Logging.hpp"
 #endif
 
@@ -49,11 +49,7 @@ MemoryManager& MemoryManager::GetDefault()
 MemoryManager::MemoryManager(MemoryAllocator& baseAllocator)
   : mBaseAllocator(baseAllocator),
     mFreeListAllocator(mBaseAllocator),
-#if DART_BUILD_MODE_RELEASE
     mPoolAllocator(mFreeListAllocator)
-#else
-    mPoolAllocator(mFreeListAllocator.getInternalAllocator())
-#endif
 {
   // Do nothing
 }
@@ -73,21 +69,13 @@ MemoryAllocator& MemoryManager::getBaseAllocator()
 //==============================================================================
 FreeListAllocator& MemoryManager::getFreeListAllocator()
 {
-#if DART_BUILD_MODE_RELEASE
   return mFreeListAllocator;
-#else
-  return mFreeListAllocator.getInternalAllocator();
-#endif
 }
 
 //==============================================================================
 PoolAllocator& MemoryManager::getPoolAllocator()
 {
-#if DART_BUILD_MODE_RELEASE
   return mPoolAllocator;
-#else
-  return mPoolAllocator.getInternalAllocator();
-#endif
 }
 
 //==============================================================================
@@ -144,20 +132,6 @@ void MemoryManager::deallocateUsingPool(void* pointer, size_t bytes)
   deallocate(Type::Pool, pointer, bytes);
 }
 
-#if DART_BUILD_MODE_DEBUG
-//==============================================================================
-bool MemoryManager::hasAllocated(void* pointer, size_t size) const noexcept
-{
-  if (mFreeListAllocator.hasAllocated(pointer, size))
-    return true;
-
-  if (mPoolAllocator.hasAllocated(pointer, size))
-    return true;
-
-  return false;
-}
-#endif
-
 //==============================================================================
 void MemoryManager::print(std::ostream& os, int indent) const
 {

diff --git a/dart/common/MemoryManager.hpp b/dart/common/MemoryManager.hpp
@@ -33,9 +33,6 @@
 #ifndef DART_COMMON_MEMORYMANAGER_HPP_
 #define DART_COMMON_MEMORYMANAGER_HPP_
 
-#if DART_BUILD_MODE_DEBUG
-  #include <mutex>
-#endif
 #include <dart/common/FreeListAllocator.hpp>
 #include <dart/common/PoolAllocator.hpp>
 
@@ -151,11 +148,6 @@ class MemoryManager final
   template <typename T>
   void destroyUsingPool(T* pointer) noexcept;
 
-#if DART_BUILD_MODE_DEBUG
-  /// Returns true if a pointer is allocated by the internal allocator.
-  [[nodiscard]] bool hasAllocated(void* pointer, size_t size) const noexcept;
-#endif
-
   /// Prints state of the memory manager.
   void print(std::ostream& os = std::cout, int indent = 0) const;
 
@@ -167,19 +159,11 @@ class MemoryManager final
   /// The base allocator to allocate memory chunk.
   MemoryAllocator& mBaseAllocator;
 
-#if DART_BUILD_MODE_RELEASE
   /// The free list allocator.
   FreeListAllocator mFreeListAllocator;
 
   /// The pool allocator.
   PoolAllocator mPoolAllocator;
-#else
-  /// The free list allocator.
-  FreeListAllocator::Debug mFreeListAllocator;
-
-  /// The pool allocator.
-  PoolAllocator::Debug mPoolAllocator;
-#endif
 };
 
 } // namespace dart::common

diff --git a/dart/config.hpp.in b/dart/config.hpp.in
@@ -34,8 +34,7 @@
            || (DART_MINOR_VERSION <= y && DART_PATCH_VERSION <= z)))
 
 // Deprecated in 6.14
-#define DART_VERSION_AT_LEAST(x, y, z)                                         \
-  DART_VERSION_GE(x, y, z)
+#define DART_VERSION_AT_LEAST(x, y, z) DART_VERSION_GE(x, y, z)
 
 // Deprecated in 6.14
 #define DART_MAJOR_MINOR_VERSION_AT_LEAST(x, y)                                \
@@ -44,8 +43,7 @@
        && (DART_MINOR_VERSION > y || (DART_MINOR_VERSION >= y))))
 
 // Deprecated in 6.14
-#define DART_VERSION_AT_MOST(x, y, z)                                          \
-  DART_VERSION_LE(x, y, z)
+#define DART_VERSION_AT_MOST(x, y, z) DART_VERSION_LE(x, y, z)
 
 // Deprecated in 6.14
 #define DART_MAJOR_MINOR_VERSION_AT_MOST(x, y)                                 \
@@ -62,10 +60,6 @@
   #define DART_COMPILER_MSVC
 #endif
 
-// Indicates the build mode used for compiling
-#cmakedefine01 DART_BUILD_MODE_DEBUG
-#cmakedefine01 DART_BUILD_MODE_RELEASE
-
 #cmakedefine01 HAVE_NLOPT
 #cmakedefine01 HAVE_IPOPT
 #cmakedefine01 HAVE_PAGMO