From 0fceee613ba29b9bd358e089b64f27a5327b359a Mon Sep 17 00:00:00 2001
From: Brian Cochran <brian@greenzie.com>
Date: Wed, 29 Mar 2023 11:00:20 -0400
Subject: [PATCH 1/2] add a check for FSA memory full

---
 cpp/fsa.h      |  2 ++
 cpp/stlastar.h | 10 ++++++++--
 2 files changed, 10 insertions(+), 2 deletions(-)

diff --git a/cpp/fsa.h b/cpp/fsa.h
index dceaf55..976f075 100755
--- a/cpp/fsa.h
+++ b/cpp/fsa.h
@@ -236,6 +236,8 @@ template <class USER_TYPE> class FixedSizeAllocator
 			);
 	}
 
+	unsigned int GetMaxElementCount(){ return m_MaxElements; };
+
 public: // data
 
 private: // methods
diff --git a/cpp/stlastar.h b/cpp/stlastar.h
index e74e4ec..995be7b 100755
--- a/cpp/stlastar.h
+++ b/cpp/stlastar.h
@@ -197,10 +197,16 @@ template <class UserState> class AStarSearch
 			return m_State; 
 		}
 
+		bool maxNodesReached = false;
+		#if USE_FSA_MEMORY
+		maxNodesReached = m_AllocateNodeCount >= m_FixedSizeAllocator.GetMaxElementCount();
+		#endif
+
 		// Failure is defined as emptying the open list as there is nothing left to 
 		// search...
-		// New: Allow user abort
-		if( m_OpenList.empty() || m_CancelRequest )
+		// Allow user abort
+		// Check if FSA memory is full
+		if( m_OpenList.empty() || m_CancelRequest || maxNodesReached)
 		{
 			FreeAllNodes();
 			m_State = SEARCH_STATE_FAILED;

From 1525383de1ebf998d446f45e62acd445328891e2 Mon Sep 17 00:00:00 2001
From: Brian Cochran <brian@greenzie.com>
Date: Wed, 29 Mar 2023 11:01:53 -0400
Subject: [PATCH 2/2] formatting

---
 cpp/fsa.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/cpp/fsa.h b/cpp/fsa.h
index 976f075..f472af7 100755
--- a/cpp/fsa.h
+++ b/cpp/fsa.h
@@ -236,7 +236,7 @@ template <class USER_TYPE> class FixedSizeAllocator
 			);
 	}
 
-	unsigned int GetMaxElementCount(){ return m_MaxElements; };
+	unsigned int GetMaxElementCount() { return m_MaxElements; };
 
 public: // data