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Marshal buffer removed

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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
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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);
}
}