fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-11 23:43:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Marshal buffer removed

Browse Source
This commit is contained in:
Pavel Kirienko
2015-05-31 07:18:56 +03:00
parent cf32ca0573
commit 05099181e5
6 changed files with 30 additions and 135 deletions
Download Patch File Download Diff File Expand all files Collapse all files
libuavcan/include/uavcan/node/abstract_node.hpp
-2
View File
@@ -7,7 +7,6 @@
#include <uavcan/build_config.hpp>
#include <uavcan/node/scheduler.hpp>
#include <uavcan/node/marshal_buffer.hpp>
namespace uavcan
{
@@ -23,7 +22,6 @@ public:
virtual IPoolAllocator& getAllocator() = 0;
virtual Scheduler& getScheduler() = 0;
virtual const Scheduler& getScheduler() const = 0;
virtual IMarshalBufferProvider& getMarshalBufferProvider() = 0;
virtual void registerInternalFailure(const char* msg) = 0;
Dispatcher& getDispatcher() { return getScheduler().getDispatcher(); }
libuavcan/include/uavcan/node/generic_publisher.hpp
+20 -13
View File
@@ -10,6 +10,7 @@
#include <uavcan/data_type.hpp>
#include <uavcan/node/global_data_type_registry.hpp>
#include <uavcan/debug.hpp>
#include <uavcan/transport/transfer_buffer.hpp>
#include <uavcan/transport/transfer_sender.hpp>
#include <uavcan/marshal/scalar_codec.hpp>
#include <uavcan/marshal/types.hpp>
@@ -44,10 +45,8 @@ protected:
MonotonicTime getTxDeadline() const;
IMarshalBuffer* getBuffer(unsigned byte_len);
int genericPublish(const IMarshalBuffer& buffer, TransferType transfer_type, NodeID dst_node_id,
TransferID* tid, MonotonicTime blocking_deadline);
int genericPublish(const StaticTransferBufferImpl& buffer, TransferType transfer_type,
NodeID dst_node_id, TransferID* tid, MonotonicTime blocking_deadline);
TransferSender& getTransferSender() { return sender_; }
const TransferSender& getTransferSender() const { return sender_; }
@@ -79,6 +78,15 @@ public:
template <typename DataSpec, typename DataStruct>
class UAVCAN_EXPORT GenericPublisher : public GenericPublisherBase
{
struct ZeroTransferBuffer : public StaticTransferBufferImpl
{
ZeroTransferBuffer() : StaticTransferBufferImpl(NULL, 0) { }
};
typedef typename Select<DataStruct::MaxBitLen == 0,
ZeroTransferBuffer,
StaticTransferBuffer<BitLenToByteLen<DataStruct::MaxBitLen>::Result> >::Result Buffer;
enum
{
Qos = (DataTypeKind(DataSpec::DataTypeKind) == DataTypeKindMessage) ?
@@ -87,7 +95,7 @@ class UAVCAN_EXPORT GenericPublisher : public GenericPublisherBase
int checkInit();
int doEncode(const DataStruct& message, IMarshalBuffer& buffer) const;
int doEncode(const DataStruct& message, ITransferBuffer& buffer) const;
int genericPublish(const DataStruct& message, TransferType transfer_type, NodeID dst_node_id,
TransferID* tid, MonotonicTime blocking_deadline);
@@ -138,7 +146,7 @@ int GenericPublisher<DataSpec, DataStruct>::checkInit()
}
template <typename DataSpec, typename DataStruct>
int GenericPublisher<DataSpec, DataStruct>::doEncode(const DataStruct& message, IMarshalBuffer& buffer) const
int GenericPublisher<DataSpec, DataStruct>::doEncode(const DataStruct& message, ITransferBuffer& buffer) const
{
BitStream bitstream(buffer);
ScalarCodec codec(bitstream);
@@ -161,17 +169,16 @@ int GenericPublisher<DataSpec, DataStruct>::genericPublish(const DataStruct& mes
{
return res;
}
IMarshalBuffer* const buf = getBuffer(BitLenToByteLen<DataStruct::MaxBitLen>::Result);
if (!buf)
{
return -ErrMemory;
}
const int encode_res = doEncode(message, *buf);
Buffer buffer;
const int encode_res = doEncode(message, buffer);
if (encode_res < 0)
{
return encode_res;
}
return GenericPublisherBase::genericPublish(*buf, transfer_type, dst_node_id, tid, blocking_deadline);
return GenericPublisherBase::genericPublish(buffer, transfer_type, dst_node_id, tid, blocking_deadline);
}
}
libuavcan/include/uavcan/node/marshal_buffer.hpp
-90
View File
@@ -1,90 +0,0 @@
/*
* Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
*/
#ifndef UAVCAN_NODE_MARSHAL_BUFFER_HPP_INCLUDED
#define UAVCAN_NODE_MARSHAL_BUFFER_HPP_INCLUDED
#include <uavcan/build_config.hpp>
#include <uavcan/transport/transfer.hpp>
#include <uavcan/transport/transfer_buffer.hpp>
namespace uavcan
{
/**
* Abstract temporary buffer for data marshalling.
*/
class UAVCAN_EXPORT IMarshalBuffer : public ITransferBuffer
{
public:
virtual const uint8_t* getDataPtr() const = 0;
virtual unsigned getMaxWritePos() const = 0;
};
/**
* Abstract provider of abstract buffer for data marshalling.
*/
class UAVCAN_EXPORT IMarshalBufferProvider
{
public:
virtual ~IMarshalBufferProvider() { }
/**
* Returns pointer to abstract buffer for data marshalling,
* but does not transfer ownership.
* If the requested buffer size is larger than available,
* null pointer will be returned.
* @param size Maximum buffer size needed for marshaling.
* @return Pointer to the buffer, or null pointer if
* the requested size is too large.
*/
virtual IMarshalBuffer* getBuffer(unsigned size) = 0;
};
/**
* Default implementation of marshal buffer provider.
*/
template <unsigned MaxSize_>
class UAVCAN_EXPORT MarshalBufferProvider : public IMarshalBufferProvider
{
class Buffer : public IMarshalBuffer
{
StaticTransferBuffer<MaxSize_> buf_;
virtual int read(unsigned offset, uint8_t* data, unsigned len) const
{
return buf_.read(offset, data, len);
}
virtual int write(unsigned offset, const uint8_t* data, unsigned len)
{
return buf_.write(offset, data, len);
}
virtual const uint8_t* getDataPtr() const { return buf_.getRawPtr(); }
virtual unsigned getMaxWritePos() const { return buf_.getMaxWritePos(); }
public:
void reset() { buf_.reset(); }
};
Buffer buffer_;
public:
enum { MaxSize = MaxSize_ };
virtual IMarshalBuffer* getBuffer(unsigned size)
{
if (size > MaxSize)
{
return NULL;
}
buffer_.reset();
return &buffer_;
}
};
}
#endif // UAVCAN_NODE_MARSHAL_BUFFER_HPP_INCLUDED
libuavcan/include/uavcan/node/node.hpp
+6 -19
View File
@@ -10,7 +10,6 @@
#include <uavcan/build_config.hpp>
#include <uavcan/dynamic_memory.hpp>
#include <uavcan/node/abstract_node.hpp>
#include <uavcan/node/marshal_buffer.hpp>
// High-level functionality available by default
#include <uavcan/protocol/node_status_provider.hpp>
@@ -46,21 +45,12 @@ namespace uavcan
* Additional objects for Transfer ID tracking will
* be allocated in the memory pool if needed.
* Default value is acceptable for any use case.
*
* @tparam MarshalBufferSize Size of the marshal buffer that is used to provide short-term temporary storage for
* serialized data for TX transfers. The buffer must be large enough to accommodate
* largest serialized TX transfer. The default value is guaranteed to be large enough,
* but it can be reduced if long TX transfers are not used to optimize memory use.
* If UAVCAN_TINY mode is enabled, this value defaults to the maximum length of a
* response transfer of uavcan.protocol.GetNodeInfo.
*/
template <std::size_t MemPoolSize_,
#if UAVCAN_TINY
unsigned OutgoingTransferRegistryStaticEntries = 0,
unsigned MarshalBufferSize = BitLenToByteLen<protocol::GetNodeInfo::Response::MaxBitLen>::Result
unsigned OutgoingTransferRegistryStaticEntries = 0
#else
unsigned OutgoingTransferRegistryStaticEntries = 10,
unsigned MarshalBufferSize = MaxPossibleTransferPayloadLen
unsigned OutgoingTransferRegistryStaticEntries = 10
#endif
>
class UAVCAN_EXPORT Node : public INode
@@ -73,7 +63,6 @@ class UAVCAN_EXPORT Node : public INode
typedef PoolAllocator<MemPoolSize, MemPoolBlockSize> Allocator;
Allocator pool_allocator_;
MarshalBufferProvider<MarshalBufferSize> marsh_buf_;
OutgoingTransferRegistry<OutgoingTransferRegistryStaticEntries> outgoing_trans_reg_;
Scheduler scheduler_;
@@ -100,8 +89,6 @@ protected:
#endif
}
virtual IMarshalBufferProvider& getMarshalBufferProvider() { return marsh_buf_; }
public:
Node(ICanDriver& can_driver, ISystemClock& system_clock)
: outgoing_trans_reg_(pool_allocator_)
@@ -265,8 +252,8 @@ public:
// ----------------------------------------------------------------------------
template <std::size_t MemPoolSize_, unsigned OutgoingTransferRegistryStaticEntries, unsigned MarshalBufferSize>
int Node<MemPoolSize_, OutgoingTransferRegistryStaticEntries, MarshalBufferSize>::start(
template <std::size_t MemPoolSize_, unsigned OutgoingTransferRegistryStaticEntries>
int Node<MemPoolSize_, OutgoingTransferRegistryStaticEntries>::start(
const TransferPriority priority)
{
if (started_)
@@ -312,8 +299,8 @@ fail:
#if !UAVCAN_TINY
template <std::size_t MemPoolSize_, unsigned OutgoingTransferRegistryStaticEntries, unsigned MarshalBufferSize>
int Node<MemPoolSize_, OutgoingTransferRegistryStaticEntries, MarshalBufferSize>::
template <std::size_t MemPoolSize_, unsigned OutgoingTransferRegistryStaticEntries>
int Node<MemPoolSize_, OutgoingTransferRegistryStaticEntries>::
checkNetworkCompatibility(NetworkCompatibilityCheckResult& result)
{
if (!started_)
libuavcan/src/node/uc_generic_publisher.cpp
+4 -9
View File
@@ -38,22 +38,17 @@ MonotonicTime GenericPublisherBase::getTxDeadline() const
return node_.getMonotonicTime() + tx_timeout_;
}
IMarshalBuffer* GenericPublisherBase::getBuffer(unsigned byte_len)
{
return node_.getMarshalBufferProvider().getBuffer(byte_len);
}
int GenericPublisherBase::genericPublish(const IMarshalBuffer& buffer, TransferType transfer_type, NodeID dst_node_id,
TransferID* tid, MonotonicTime blocking_deadline)
int GenericPublisherBase::genericPublish(const StaticTransferBufferImpl& buffer, TransferType transfer_type,
NodeID dst_node_id, TransferID* tid, MonotonicTime blocking_deadline)
{
if (tid)
{
return sender_.send(buffer.getDataPtr(), buffer.getMaxWritePos(), getTxDeadline(),
return sender_.send(buffer.getRawPtr(), buffer.getMaxWritePos(), getTxDeadline(),
blocking_deadline, transfer_type, dst_node_id, *tid);
}
else
{
return sender_.send(buffer.getDataPtr(), buffer.getMaxWritePos(), getTxDeadline(),
return sender_.send(buffer.getRawPtr(), buffer.getMaxWritePos(), getTxDeadline(),
blocking_deadline, transfer_type, dst_node_id);
}
}
libuavcan/test/node/test_node.hpp
-2
View File
@@ -20,7 +20,6 @@ struct TestNode : public uavcan::INode
{
uavcan::PoolAllocator<uavcan::MemPoolBlockSize * 100, uavcan::MemPoolBlockSize> pool;
uavcan::PoolManager<1> poolmgr;
uavcan::MarshalBufferProvider<512> buffer_provider;
uavcan::OutgoingTransferRegistry<8> otr;
uavcan::Scheduler scheduler;
uint64_t internal_failure_count;
@@ -43,7 +42,6 @@ struct TestNode : public uavcan::INode
virtual uavcan::PoolManager<1>& getAllocator() { return poolmgr; }
virtual uavcan::Scheduler& getScheduler() { return scheduler; }
virtual const uavcan::Scheduler& getScheduler() const { return scheduler; }
virtual uavcan::IMarshalBufferProvider& getMarshalBufferProvider() { return buffer_provider; }
};