Lazy initialization of TransferSender removed

libuavcan/include/uavcan/node/generic_publisher.hpp

@@ -9,7 +9,6 @@
 #include <uavcan/node/abstract_node.hpp>
 #include <uavcan/data_type.hpp>
 #include <uavcan/node/global_data_type_registry.hpp>
-#include <uavcan/util/lazy_constructor.hpp>
 #include <uavcan/debug.hpp>
 #include <uavcan/transport/transfer_sender.hpp>
 #include <uavcan/marshal/scalar_codec.hpp>
@@ -20,15 +19,14 @@ namespace uavcan
 
 class GenericPublisherBase : Noncopyable
 {
-    const MonotonicDuration max_transfer_interval_;   // TODO: memory usage can be reduced
+    TransferSender sender_;
     MonotonicDuration tx_timeout_;
     INode& node_;
-    LazyConstructor<TransferSender> sender_;
 
 protected:
     GenericPublisherBase(INode& node, MonotonicDuration tx_timeout,
                          MonotonicDuration max_transfer_interval)
-        : max_transfer_interval_(max_transfer_interval)
+        : sender_(node.getDispatcher(), max_transfer_interval)
         , tx_timeout_(tx_timeout)
         , node_(node)
     {
@@ -51,7 +49,8 @@ protected:
     int genericPublish(const IMarshalBuffer& buffer, TransferType transfer_type, NodeID dst_node_id,
                        TransferID* tid, MonotonicTime blocking_deadline);
 
-    TransferSender* getTransferSender();
+    TransferSender& getTransferSender() { return sender_; }
+    const TransferSender& getTransferSender() const { return sender_; }
 
 public:
     static MonotonicDuration getMinTxTimeout() { return MonotonicDuration::fromUSec(200); }
@@ -66,7 +65,7 @@ public:
      */
     void allowAnonymousTransfers()
     {
-        sender_->allowAnonymousTransfers();
+        sender_.allowAnonymousTransfers();
     }
 
     INode& getNode() const { return node_; }
@@ -124,12 +123,6 @@ public:
     {
         return genericPublish(message, transfer_type, dst_node_id, &tid, blocking_deadline);
     }
-
-    TransferSender* getTransferSender()
-    {
-        (void)checkInit();
-        return GenericPublisherBase::getTransferSender();
-    }
 };
 
 // ----------------------------------------------------------------------------

libuavcan/include/uavcan/node/publisher.hpp

@@ -81,46 +81,20 @@ public:
 
     /**
      * Returns priority of outgoing transfers.
-     * TODO: Make const.
      */
-    TransferPriority getPriority()
+    TransferPriority getPriority() const
     {
-        // TODO probably TransferSender must be transformed into regular field?
-        TransferSender* const ts = getTransferSender();
-        if (ts != NULL)
-        {
-            return ts->getPriority();
-        }
-        else
-        {
-            return TransferPriorityNormal;  // This is default
-        }
+        return BaseType::getTransferSender().getPriority();
     }
 
     /**
      * Allows to change the priority of outgoing transfers.
      * Note that only High, Normal and Low priorities can be used; Service priority is not available for messages.
-     * Returns negative error code if priority cannot be set, non-negative on success.
+     * If the priority value is invalid, an assertion failure will be generated, and the value will not be updated.
      */
-    int setPriority(const TransferPriority prio)
+    void setPriority(const TransferPriority prio)
     {
-        if (prio < NumTransferPriorities && prio != TransferPriorityService)
-        {
-            TransferSender* const ts = getTransferSender();  // TODO: Static TransferSender?
-            if (ts != NULL)
-            {
-                ts->setPriority(prio);
-                return 0;
-            }
-            else
-            {
-                return -ErrLogic;
-            }
-        }
-        else
-        {
-            return -ErrInvalidParam;
-        }
+        BaseType::getTransferSender().setPriority(prio);
     }
 
     static MonotonicDuration getDefaultTxTimeout() { return MonotonicDuration::fromMSec(10); }

libuavcan/include/uavcan/protocol/global_time_sync_master.hpp

@@ -51,16 +51,9 @@ class UAVCAN_EXPORT GlobalTimeSyncMaster : protected LoopbackFrameListenerBase
             const int res = pub_.init();
             if (res >= 0)
             {
-                TransferSender* const ts = pub_.getTransferSender();
-                UAVCAN_ASSERT(ts != NULL);
-                ts->setIfaceMask(uint8_t(1 << iface_index_));
-                ts->setCanIOFlags(CanIOFlagLoopback);
-
-                const int prio_res = pub_.setPriority(TransferPriorityHigh);  // Fixed priority
-                if (prio_res < 0)
-                {
-                    return prio_res;
-                }
+                pub_.getTransferSender().setIfaceMask(uint8_t(1 << iface_index_));
+                pub_.getTransferSender().setCanIOFlags(CanIOFlagLoopback);
+                pub_.setPriority(TransferPriorityHigh);  // Fixed priority
             }
             return res;
         }
@@ -84,8 +77,8 @@ class UAVCAN_EXPORT GlobalTimeSyncMaster : protected LoopbackFrameListenerBase
 
         int publish(TransferID tid, MonotonicTime current_time)
         {
-            UAVCAN_ASSERT(pub_.getTransferSender()->getCanIOFlags() == CanIOFlagLoopback);
-            UAVCAN_ASSERT(pub_.getTransferSender()->getIfaceMask() == (1 << iface_index_));
+            UAVCAN_ASSERT(pub_.getTransferSender().getCanIOFlags() == CanIOFlagLoopback);
+            UAVCAN_ASSERT(pub_.getTransferSender().getIfaceMask() == (1 << iface_index_));
 
             const MonotonicDuration since_prev_pub = current_time - iface_prev_pub_mono_;
             iface_prev_pub_mono_ = current_time;

libuavcan/include/uavcan/protocol/logger.hpp

@@ -101,7 +101,8 @@ public:
         {
             return res;
         }
-        return logmsg_pub_.setPriority(TransferPriorityLow); // Fixed priority
+        logmsg_pub_.setPriority(TransferPriorityLow); // Fixed priority
+        return 0;
     }
 
     /**

libuavcan/include/uavcan/transport/transfer_sender.hpp

@@ -20,10 +20,10 @@ namespace uavcan
 class UAVCAN_EXPORT TransferSender
 {
     const MonotonicDuration max_transfer_interval_;
-    const DataTypeDescriptor& data_type_;
+    DataTypeID data_type_id_;
     TransferPriority priority_;
-    const CanTxQueue::Qos qos_;
-    const TransferCRC crc_base_;
+    CanTxQueue::Qos qos_;
+    TransferCRC crc_base_;
     CanIOFlags flags_;
     uint8_t iface_mask_;
     bool allow_anonymous_transfers_;
@@ -43,16 +43,30 @@ public:
     TransferSender(Dispatcher& dispatcher, const DataTypeDescriptor& data_type, CanTxQueue::Qos qos,
                    MonotonicDuration max_transfer_interval = getDefaultMaxTransferInterval())
         : max_transfer_interval_(max_transfer_interval)
-        , data_type_(data_type)
         , priority_(TransferPriorityNormal)
-        , qos_(qos)
-        , crc_base_(data_type.getSignature().toTransferCRC())
+        , qos_(CanTxQueue::Qos())
+        , flags_(CanIOFlags(0))
+        , iface_mask_(AllIfacesMask)
+        , allow_anonymous_transfers_(false)
+        , dispatcher_(dispatcher)
+    {
+        init(data_type, qos);
+    }
+
+    TransferSender(Dispatcher& dispatcher, MonotonicDuration max_transfer_interval = getDefaultMaxTransferInterval())
+        : max_transfer_interval_(max_transfer_interval)
+        , priority_(TransferPriorityNormal)
+        , qos_(CanTxQueue::Qos())
         , flags_(CanIOFlags(0))
         , iface_mask_(AllIfacesMask)
         , allow_anonymous_transfers_(false)
         , dispatcher_(dispatcher)
     { }
 
+    void init(const DataTypeDescriptor& dtid, CanTxQueue::Qos qos);
+
+    bool isInitialized() const { return data_type_id_ != DataTypeID(); }
+
     CanIOFlags getCanIOFlags() const { return flags_; }
     void setCanIOFlags(CanIOFlags flags) { flags_ = flags; }