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Lazy initialization of TransferSender removed

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Pavel Kirienko
2015-05-29 23:30:02 +03:00
parent 3499db227b
commit 0ce23a4f34
10 changed files with 64 additions and 103 deletions
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libuavcan/include/uavcan/protocol/global_time_sync_master.hpp
+5 -12
View File
@@ -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
+2 -1
View File
@@ -101,7 +101,8 @@ public:
{
return res;
}
return logmsg_pub_.setPriority(TransferPriorityLow); // Fixed priority
logmsg_pub_.setPriority(TransferPriorityLow); // Fixed priority
return 0;
}
/**