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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
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@@ -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());