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Lazy initialization of TransferSender removed

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This commit is contained in:
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/src/node/uc_generic_publisher.cpp
+9 -13
View File
@@ -9,7 +9,7 @@ namespace uavcan
bool GenericPublisherBase::isInited() const
{
return bool(sender_);
return sender_.isInitialized();
}
int GenericPublisherBase::doInit(DataTypeKind dtkind, const char* dtname, CanTxQueue::Qos qos)
@@ -22,13 +22,14 @@ int GenericPublisherBase::doInit(DataTypeKind dtkind, const char* dtname, CanTxQ
GlobalDataTypeRegistry::instance().freeze();
const DataTypeDescriptor* const descr = GlobalDataTypeRegistry::instance().find(dtkind, dtname);
if (!descr)
if (descr == NULL)
{
UAVCAN_TRACE("GenericPublisher", "Type [%s] is not registered", dtname);
return -ErrUnknownDataType;
}
sender_.construct<Dispatcher&, const DataTypeDescriptor&, CanTxQueue::Qos, MonotonicDuration>
(node_.getDispatcher(), *descr, qos, max_transfer_interval_);
sender_.init(*descr, qos);
return 0;
}
@@ -47,21 +48,16 @@ int GenericPublisherBase::genericPublish(const IMarshalBuffer& buffer, TransferT
{
if (tid)
{
return sender_->send(buffer.getDataPtr(), buffer.getMaxWritePos(), getTxDeadline(),
blocking_deadline, transfer_type, dst_node_id, *tid);
return sender_.send(buffer.getDataPtr(), buffer.getMaxWritePos(), getTxDeadline(),
blocking_deadline, transfer_type, dst_node_id, *tid);
}
else
{
return sender_->send(buffer.getDataPtr(), buffer.getMaxWritePos(), getTxDeadline(),
blocking_deadline, transfer_type, dst_node_id);
return sender_.send(buffer.getDataPtr(), buffer.getMaxWritePos(), getTxDeadline(),
blocking_deadline, transfer_type, dst_node_id);
}
}
TransferSender* GenericPublisherBase::getTransferSender()
{
return sender_.isConstructed() ? static_cast<TransferSender*>(sender_) : NULL;
}
void GenericPublisherBase::setTxTimeout(MonotonicDuration tx_timeout)
{
tx_timeout = max(tx_timeout, getMinTxTimeout());
libuavcan/src/protocol/uc_dynamic_node_id_client.cpp
+1 -5
View File
@@ -160,11 +160,7 @@ int DynamicNodeIDClient::start(const protocol::HardwareVersion& hardware_version
return res;
}
dnida_pub_.allowAnonymousTransfers();
res = dnida_pub_.setPriority(transfer_priority);
if (res < 0)
{
return res;
}
dnida_pub_.setPriority(transfer_priority);
res = dnida_sub_.start(AllocationCallback(this, &DynamicNodeIDClient::handleAllocation));
if (res < 0)
libuavcan/src/protocol/uc_node_status_provider.cpp
+1 -5
View File
@@ -71,11 +71,7 @@ int NodeStatusProvider::startAndPublish(TransferPriority priority)
int res = -1;
res = node_status_pub_.setPriority(priority);
if (res < 0)
{
goto fail;
}
node_status_pub_.setPriority(priority);
if (!getNode().isPassiveMode())
{
libuavcan/src/transport/uc_transfer_sender.cpp
+13 -4
View File
@@ -15,6 +15,15 @@ void TransferSender::registerError() const
dispatcher_.getTransferPerfCounter().addError();
}
void TransferSender::init(const DataTypeDescriptor& dtid, CanTxQueue::Qos qos)
{
UAVCAN_ASSERT(!isInitialized());
qos_ = qos;
data_type_id_ = dtid.getID();
crc_base_ = dtid.getSignature().toTransferCRC();
}
int TransferSender::send(const uint8_t* payload, unsigned payload_len, MonotonicTime tx_deadline,
MonotonicTime blocking_deadline, TransferType transfer_type, NodeID dst_node_id,
TransferID tid) const
@@ -24,7 +33,7 @@ int TransferSender::send(const uint8_t* payload, unsigned payload_len, Monotonic
return -ErrTransferTooLong;
}
Frame frame(data_type_.getID(), transfer_type, dispatcher_.getNodeID(), dst_node_id, 0, tid);
Frame frame(data_type_id_, transfer_type, dispatcher_.getNodeID(), dst_node_id, 0, tid);
if (transfer_type == TransferTypeMessageBroadcast ||
transfer_type == TransferTypeMessageUnicast)
{
@@ -143,7 +152,7 @@ int TransferSender::send(const uint8_t* payload, unsigned payload_len, Monotonic
/*
* TODO: TID is not needed for anonymous transfers, this part of the code can be skipped?
*/
const OutgoingTransferRegistryKey otr_key(data_type_.getID(), transfer_type, dst_node_id);
const OutgoingTransferRegistryKey otr_key(data_type_id_, transfer_type, dst_node_id);
UAVCAN_ASSERT(!tx_deadline.isZero());
const MonotonicTime otr_deadline = tx_deadline + max_transfer_interval_;
@@ -151,8 +160,8 @@ int TransferSender::send(const uint8_t* payload, unsigned payload_len, Monotonic
TransferID* const tid = dispatcher_.getOutgoingTransferRegistry().accessOrCreate(otr_key, otr_deadline);
if (tid == NULL)
{
UAVCAN_TRACE("TransferSender", "OTR access failure, dtd=%s tt=%i",
data_type_.toString().c_str(), int(transfer_type));
UAVCAN_TRACE("TransferSender", "OTR access failure, dtid=%d tt=%i",
int(data_type_id_.get()), int(transfer_type));
return -ErrMemory;
}