Node status monitor moved to header

libuavcan/include/uavcan/protocol/node_status_monitor.hpp

@@ -5,10 +5,13 @@
 #ifndef UAVCAN_PROTOCOL_NODE_STATUS_MONITOR_HPP_INCLUDED
 #define UAVCAN_PROTOCOL_NODE_STATUS_MONITOR_HPP_INCLUDED
 
+#include <uavcan/debug.hpp>
 #include <uavcan/util/method_binder.hpp>
 #include <uavcan/node/subscriber.hpp>
 #include <uavcan/node/timer.hpp>
 #include <uavcan/protocol/NodeStatus.hpp>
+#include <cassert>
+#include <cstdlib>
 
 namespace uavcan
 {
@@ -40,7 +43,7 @@ public:
     };
 
 private:
-    static const unsigned TimerPeriodMs100 = 5;
+    enum { TimerPeriodMs100 = 5 };
 
     typedef MethodBinder<NodeStatusMonitor*,
                          void (NodeStatusMonitor::*)(const ReceivedDataStructure<protocol::NodeStatus>&)>
@@ -65,13 +68,71 @@ private:
 
     mutable Entry entries_[NodeID::Max];  // [1, NodeID::Max]
 
-    Entry& getEntry(NodeID node_id) const;
+    Entry& getEntry(NodeID node_id) const
+    {
+        if (node_id.get() < 1 || node_id.get() > NodeID::Max)
+        {
+            handleFatalError("NodeStatusMonitor NodeID");
+        }
+        return entries_[node_id.get() - 1];
+    }
 
-    void changeNodeStatus(const NodeID node_id, const Entry new_entry_value);
+    void changeNodeStatus(const NodeID node_id, const Entry new_entry_value)
+    {
+        Entry& entry = getEntry(node_id);
+        if (entry.status_code != new_entry_value.status_code)
+        {
+            NodeStatusChangeEvent event;
+            event.node_id = node_id;
 
-    void handleNodeStatus(const ReceivedDataStructure<protocol::NodeStatus>& msg);
+            event.old_status.known = entry.time_since_last_update_ms100 >= 0;
+            event.old_status.status_code = entry.status_code;
 
-    virtual void handleTimerEvent(const TimerEvent&);
+            event.status.known = true;
+            event.status.status_code = new_entry_value.status_code;
+
+            UAVCAN_TRACE("NodeStatusMonitor", "Node %i [%s] status change: %i --> %i", int(node_id.get()),
+                         (event.old_status.known ? "known" : "new"),
+                         int(event.old_status.status_code), int(event.status.status_code));
+            handleNodeStatusChange(event);
+        }
+        entry = new_entry_value;
+    }
+
+    void handleNodeStatus(const ReceivedDataStructure<protocol::NodeStatus>& msg)
+    {
+        Entry new_entry_value;
+        new_entry_value.time_since_last_update_ms100 = 0;
+        new_entry_value.status_code = msg.status_code;
+
+        changeNodeStatus(msg.getSrcNodeID(), new_entry_value);
+
+        handleNodeStatusMessage(msg);
+    }
+
+    virtual void handleTimerEvent(const TimerEvent&)
+    {
+        const int OfflineTimeoutMs100 = protocol::NodeStatus::OFFLINE_TIMEOUT_MS / 100;
+
+        for (uint8_t i = 1; i <= NodeID::Max; i++)
+        {
+            const NodeID nid(i);
+            UAVCAN_ASSERT(nid.isUnicast());
+            Entry& entry = getEntry(nid);
+            if (entry.time_since_last_update_ms100 >= 0 &&
+                entry.status_code != protocol::NodeStatus::STATUS_OFFLINE)
+            {
+                entry.time_since_last_update_ms100 = int8_t(entry.time_since_last_update_ms100 + int8_t(TimerPeriodMs100));
+                if (entry.time_since_last_update_ms100 >= OfflineTimeoutMs100)
+                {
+                    Entry new_entry_value;
+                    new_entry_value.time_since_last_update_ms100 = OfflineTimeoutMs100;
+                    new_entry_value.status_code = protocol::NodeStatus::STATUS_OFFLINE;
+                    changeNodeStatus(nid, new_entry_value);
+                }
+            }
+        }
+    }
 
 protected:
     /**
@@ -107,25 +168,79 @@ public:
      * Destroy the object to stop it.
      * Returns negative error code.
      */
-    int start();
+    int start()
+    {
+        const int res = sub_.start(NodeStatusCallback(this, &NodeStatusMonitor::handleNodeStatus));
+        if (res >= 0)
+        {
+            TimerBase::startPeriodic(MonotonicDuration::fromMSec(TimerPeriodMs100 * 100));
+        }
+        return res;
+    }
 
     /**
      * Make the node unknown.
      */
-    void forgetNode(NodeID node_id);
+    void forgetNode(NodeID node_id)
+    {
+        if (node_id.isValid())
+        {
+            Entry& entry = getEntry(node_id);
+            entry = Entry();
+        }
+        else
+        {
+            UAVCAN_ASSERT(0);
+        }
+    }
 
     /**
      * Returns status of a given node.
      * Unknown nodes are considered offline.
      */
-    NodeStatus getNodeStatus(NodeID node_id) const;
+    NodeStatus getNodeStatus(NodeID node_id) const
+    {
+        if (!node_id.isValid())
+        {
+            UAVCAN_ASSERT(0);
+            return NodeStatus();
+        }
+        NodeStatus status;
+        const Entry& entry = getEntry(node_id);
+        if (entry.time_since_last_update_ms100 >= 0)
+        {
+            status.known = true;
+            status.status_code = entry.status_code;
+        }
+        return status;
+    }
 
     /**
      * This helper method allows to quickly estimate the overall network health.
      * Status of the local node is not considered.
      * Returns an invalid Node ID value if there's no known nodes in the network.
      */
-    NodeID findNodeWithWorstStatus() const;
+    NodeID findNodeWithWorstStatus() const
+    {
+        NodeID nid_with_worst_status;
+        NodeStatusCode worst_status_code = protocol::NodeStatus::STATUS_OK;
+
+        for (uint8_t i = 1; i <= NodeID::Max; i++)
+        {
+            const NodeID nid(i);
+            UAVCAN_ASSERT(nid.isUnicast());
+            const Entry& entry = getEntry(nid);
+            if (entry.time_since_last_update_ms100 >= 0)
+            {
+                if (entry.status_code > worst_status_code || !nid_with_worst_status.isValid())
+                {
+                    nid_with_worst_status = nid;
+                    worst_status_code = entry.status_code;
+                }
+            }
+        }
+        return nid_with_worst_status;
+    }
 };
 
 }

libuavcan/src/protocol/uc_node_status_monitor.cpp

@@ -1,143 +0,0 @@
-/*
- * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
- */
-
-#include <uavcan/protocol/node_status_monitor.hpp>
-#include <uavcan/debug.hpp>
-#include <cassert>
-#include <cstdlib>
-
-namespace uavcan
-{
-
-const unsigned NodeStatusMonitor::TimerPeriodMs100;
-
-NodeStatusMonitor::Entry& NodeStatusMonitor::getEntry(NodeID node_id) const
-{
-    if (node_id.get() < 1 || node_id.get() > NodeID::Max)
-    {
-        handleFatalError("NodeStatusMonitor NodeID");
-    }
-    return entries_[node_id.get() - 1];
-}
-
-void NodeStatusMonitor::changeNodeStatus(const NodeID node_id, const Entry new_entry_value)
-{
-    Entry& entry = getEntry(node_id);
-    if (entry.status_code != new_entry_value.status_code)
-    {
-        NodeStatusChangeEvent event;
-        event.node_id = node_id;
-
-        event.old_status.known = entry.time_since_last_update_ms100 >= 0;
-        event.old_status.status_code = entry.status_code;
-
-        event.status.known = true;
-        event.status.status_code = new_entry_value.status_code;
-
-        UAVCAN_TRACE("NodeStatusMonitor", "Node %i [%s] status change: %i --> %i", int(node_id.get()),
-                     (event.old_status.known ? "known" : "new"),
-                     int(event.old_status.status_code), int(event.status.status_code));
-        handleNodeStatusChange(event);
-    }
-    entry = new_entry_value;
-}
-
-void NodeStatusMonitor::handleNodeStatus(const ReceivedDataStructure<protocol::NodeStatus>& msg)
-{
-    Entry new_entry_value;
-    new_entry_value.time_since_last_update_ms100 = 0;
-    new_entry_value.status_code = msg.status_code;
-
-    changeNodeStatus(msg.getSrcNodeID(), new_entry_value);
-
-    handleNodeStatusMessage(msg);
-}
-
-void NodeStatusMonitor::handleTimerEvent(const TimerEvent&)
-{
-    const int OfflineTimeoutMs100 = protocol::NodeStatus::OFFLINE_TIMEOUT_MS / 100;
-
-    for (uint8_t i = 1; i <= NodeID::Max; i++)
-    {
-        const NodeID nid(i);
-        UAVCAN_ASSERT(nid.isUnicast());
-        Entry& entry = getEntry(nid);
-        if (entry.time_since_last_update_ms100 >= 0 &&
-            entry.status_code != protocol::NodeStatus::STATUS_OFFLINE)
-        {
-            entry.time_since_last_update_ms100 = int8_t(entry.time_since_last_update_ms100 + int8_t(TimerPeriodMs100));
-            if (entry.time_since_last_update_ms100 >= OfflineTimeoutMs100)
-            {
-                Entry new_entry_value;
-                new_entry_value.time_since_last_update_ms100 = OfflineTimeoutMs100;
-                new_entry_value.status_code = protocol::NodeStatus::STATUS_OFFLINE;
-                changeNodeStatus(nid, new_entry_value);
-            }
-        }
-    }
-}
-
-int NodeStatusMonitor::start()
-{
-    const int res = sub_.start(NodeStatusCallback(this, &NodeStatusMonitor::handleNodeStatus));
-    if (res >= 0)
-    {
-        TimerBase::startPeriodic(MonotonicDuration::fromMSec(TimerPeriodMs100 * 100));
-    }
-    return res;
-}
-
-void NodeStatusMonitor::forgetNode(NodeID node_id)
-{
-    if (node_id.isValid())
-    {
-        Entry& entry = getEntry(node_id);
-        entry = Entry();
-    }
-    else
-    {
-        UAVCAN_ASSERT(0);
-    }
-}
-
-NodeStatusMonitor::NodeStatus NodeStatusMonitor::getNodeStatus(NodeID node_id) const
-{
-    if (!node_id.isValid())
-    {
-        UAVCAN_ASSERT(0);
-        return NodeStatus();
-    }
-    NodeStatus status;
-    const Entry& entry = getEntry(node_id);
-    if (entry.time_since_last_update_ms100 >= 0)
-    {
-        status.known = true;
-        status.status_code = entry.status_code;
-    }
-    return status;
-}
-
-NodeID NodeStatusMonitor::findNodeWithWorstStatus() const
-{
-    NodeID nid_with_worst_status;
-    NodeStatusCode worst_status_code = protocol::NodeStatus::STATUS_OK;
-
-    for (uint8_t i = 1; i <= NodeID::Max; i++)
-    {
-        const NodeID nid(i);
-        UAVCAN_ASSERT(nid.isUnicast());
-        const Entry& entry = getEntry(nid);
-        if (entry.time_since_last_update_ms100 >= 0)
-        {
-            if (entry.status_code > worst_status_code || !nid_with_worst_status.isValid())
-            {
-                nid_with_worst_status = nid;
-                worst_status_code = entry.status_code;
-            }
-        }
-    }
-    return nid_with_worst_status;
-}
-
-}