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Publisher got simplified - no blocking deadline, default tx_timeout = 2.5 ms

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This commit is contained in:
Pavel Kirienko
2014-03-09 11:14:31 +04:00
parent baed1d17c5
commit 081f1f9733
2 changed files with 10 additions and 8 deletions
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libuavcan/include/uavcan/publisher.hpp
+9 -7
View File
@@ -23,9 +23,10 @@ class Publisher
public:
typedef DataType_ DataType;
private:
enum { DefaultTxTimeoutUsec = 2500 }; // 2500 ms --> 400Hz max
enum { MinTxTimeoutUsec = 200 };
private:
const uint64_t max_transfer_interval_; // TODO: memory usage can be reduced
uint64_t tx_timeout_;
Scheduler& scheduler_;
@@ -59,7 +60,7 @@ private:
}
int genericSend(const DataType& message, TransferType transfer_type, NodeID dst_node_id,
uint64_t monotonic_blocking_deadline)
uint64_t monotonic_blocking_deadline = 0)
{
if (!checkInit())
return -1;
@@ -82,7 +83,8 @@ private:
}
public:
Publisher(Scheduler& scheduler, IMarshalBufferProvider& buffer_provider, uint64_t tx_timeout_usec,
Publisher(Scheduler& scheduler, IMarshalBufferProvider& buffer_provider,
uint64_t tx_timeout_usec = DefaultTxTimeoutUsec,
uint64_t max_transfer_interval = TransferSender::DefaultMaxTransferInterval)
: max_transfer_interval_(max_transfer_interval)
, tx_timeout_(tx_timeout_usec)
@@ -93,19 +95,19 @@ public:
StaticAssert<DataTypeKind(DataType::DataTypeKind) == DataTypeKindMessage>::check();
}
int broadcast(const DataType& message, uint64_t monotonic_blocking_deadline = 0)
int broadcast(const DataType& message)
{
return genericSend(message, TransferTypeMessageBroadcast, NodeID::Broadcast, monotonic_blocking_deadline);
return genericSend(message, TransferTypeMessageBroadcast, NodeID::Broadcast);
}
int unicast(const DataType& message, NodeID dst_node_id, uint64_t monotonic_blocking_deadline = 0)
int unicast(const DataType& message, NodeID dst_node_id)
{
if (!dst_node_id.isUnicast())
{
assert(0);
return -1;
}
return genericSend(message, TransferTypeMessageUnicast, dst_node_id, monotonic_blocking_deadline);
return genericSend(message, TransferTypeMessageUnicast, dst_node_id);
}
uint64_t getTxTimeout() const { return tx_timeout_; }
libuavcan/test/publisher.cpp
+1 -1
View File
@@ -24,7 +24,7 @@ TEST(Publisher, Basic)
uavcan::MarshalBufferProvider<> buffer_provider;
uavcan::Publisher<uavcan::mavlink::Message> publisher(sch, buffer_provider, 10000);
uavcan::Publisher<uavcan::mavlink::Message> publisher(sch, buffer_provider);
ASSERT_FALSE(uavcan::GlobalDataTypeRegistry::instance().isFrozen());