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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/node.hpp
+6 -19
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@@ -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_)