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Data type info provider moved to header

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This commit is contained in:
Pavel Kirienko
2015-05-09 12:03:30 +03:00
parent 8ea708b77e
commit 0ee3a7f311
2 changed files with 124 additions and 144 deletions
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libuavcan/include/uavcan/protocol/data_type_info_provider.hpp
+124 -4
View File
@@ -10,6 +10,7 @@
#include <uavcan/build_config.hpp>
#include <uavcan/protocol/ComputeAggregateTypeSignature.hpp>
#include <uavcan/protocol/GetDataTypeInfo.hpp>
#include <uavcan/debug.hpp>
namespace uavcan
{
@@ -34,13 +35,107 @@ class UAVCAN_EXPORT DataTypeInfoProvider : Noncopyable
INode& getNode() { return cats_srv_.getNode(); }
static bool isValidDataTypeKind(DataTypeKind kind);
static bool isValidDataTypeKind(DataTypeKind kind)
{
return (kind == DataTypeKindMessage) || (kind == DataTypeKindService);
}
void handleComputeAggregateTypeSignatureRequest(const protocol::ComputeAggregateTypeSignature::Request& request,
protocol::ComputeAggregateTypeSignature::Response& response);
protocol::ComputeAggregateTypeSignature::Response& response)
{
const DataTypeKind kind = DataTypeKind(request.kind.value); // No mapping needed
if (!isValidDataTypeKind(kind))
{
UAVCAN_TRACE("DataTypeInfoProvider", "ComputeAggregateTypeSignature request with invalid DataTypeKind %d",
kind);
return;
}
UAVCAN_TRACE("DataTypeInfoProvider", "ComputeAggregateTypeSignature request for dtk=%d, len(known_ids)=%d",
int(request.kind.value), int(request.known_ids.size()));
// Correcting the mask length according to the data type kind
response.mutually_known_ids = request.known_ids;
response.mutually_known_ids.resize(
static_cast<uint16_t>(DataTypeID::getMaxValueForDataTypeKind(kind).get() + 1U));
response.aggregate_signature =
GlobalDataTypeRegistry::instance().computeAggregateSignature(kind, response.mutually_known_ids).get();
}
void handleGetDataTypeInfoRequest(const protocol::GetDataTypeInfo::Request& request,
protocol::GetDataTypeInfo::Response& response);
protocol::GetDataTypeInfo::Response& response)
{
/*
* Asking the Global Data Type Registry for the matching type descriptor, either by name or by ID
*/
const DataTypeDescriptor* desc = NULL;
if (request.name.empty())
{
response.id = request.id; // Pre-setting the fields so they have meaningful values even in
response.kind = request.kind; // ...case of failure.
if (!isValidDataTypeKind(DataTypeKind(request.kind.value)))
{
UAVCAN_TRACE("DataTypeInfoProvider", "GetDataTypeInfo request with invalid DataTypeKind %i",
static_cast<int>(request.kind.value));
return;
}
desc = GlobalDataTypeRegistry::instance().find(DataTypeKind(request.kind.value), request.id);
}
else
{
response.name = request.name;
desc = GlobalDataTypeRegistry::instance().find(request.name.c_str());
}
if (desc == NULL)
{
UAVCAN_TRACE("DataTypeInfoProvider",
"Cannot process GetDataTypeInfo for nonexistent type: dtid=%i dtk=%i name='%s'",
static_cast<int>(request.id), static_cast<int>(request.kind.value), request.name.c_str());
return;
}
UAVCAN_TRACE("DataTypeInfoProvider", "GetDataTypeInfo request for %s", desc->toString().c_str());
/*
* Filling the response struct
*/
response.signature = desc->getSignature().get();
response.id = desc->getID().get();
response.kind.value = desc->getKind();
response.mask = protocol::GetDataTypeInfo::Response::MASK_KNOWN;
response.name = desc->getFullName();
const Dispatcher& dispatcher = getNode().getDispatcher();
if (desc->getKind() == DataTypeKindService)
{
if (dispatcher.hasServer(desc->getID().get()))
{
response.mask |= protocol::GetDataTypeInfo::Response::MASK_SERVING;
}
}
else if (desc->getKind() == DataTypeKindMessage)
{
if (dispatcher.hasSubscriber(desc->getID().get()))
{
response.mask |= protocol::GetDataTypeInfo::Response::MASK_SUBSCRIBED;
}
if (dispatcher.hasPublisher(desc->getID().get()))
{
response.mask |= protocol::GetDataTypeInfo::Response::MASK_PUBLISHING;
}
}
else
{
UAVCAN_ASSERT(0); // That means that GDTR somehow found a type of an unknown kind. The horror.
}
}
public:
explicit DataTypeInfoProvider(INode& node)
@@ -48,7 +143,32 @@ public:
, gdti_srv_(node)
{ }
int start();
int start()
{
int res = 0;
res = cats_srv_.start(
ComputeAggregateTypeSignatureCallback(this, &DataTypeInfoProvider::handleComputeAggregateTypeSignatureRequest));
if (res < 0)
{
goto fail;
}
res = gdti_srv_.start(GetDataTypeInfoCallback(this, &DataTypeInfoProvider::handleGetDataTypeInfoRequest));
if (res < 0)
{
goto fail;
}
UAVCAN_ASSERT(res >= 0);
return res;
fail:
UAVCAN_ASSERT(res < 0);
cats_srv_.stop();
gdti_srv_.stop();
return res;
}
};
}
libuavcan/src/protocol/uc_data_type_info_provider.cpp
-140
View File
@@ -1,140 +0,0 @@
/*
* Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
*/
#include <uavcan/protocol/data_type_info_provider.hpp>
#include <uavcan/debug.hpp>
namespace uavcan
{
bool DataTypeInfoProvider::isValidDataTypeKind(DataTypeKind kind)
{
return (kind == DataTypeKindMessage) || (kind == DataTypeKindService);
}
void DataTypeInfoProvider::handleComputeAggregateTypeSignatureRequest(
const protocol::ComputeAggregateTypeSignature::Request& request,
protocol::ComputeAggregateTypeSignature::Response& response)
{
const DataTypeKind kind = DataTypeKind(request.kind.value); // No mapping needed
if (!isValidDataTypeKind(kind))
{
UAVCAN_TRACE("DataTypeInfoProvider",
"ComputeAggregateTypeSignature request with invalid DataTypeKind %d", kind);
return;
}
UAVCAN_TRACE("DataTypeInfoProvider", "ComputeAggregateTypeSignature request for dtk=%d, len(known_ids)=%d",
int(request.kind.value), int(request.known_ids.size()));
// Correcting the mask length according to the data type kind
response.mutually_known_ids = request.known_ids;
response.mutually_known_ids.resize(static_cast<uint16_t>(DataTypeID::getMaxValueForDataTypeKind(kind).get() + 1U));
response.aggregate_signature =
GlobalDataTypeRegistry::instance().computeAggregateSignature(kind, response.mutually_known_ids).get();
}
void DataTypeInfoProvider::handleGetDataTypeInfoRequest(const protocol::GetDataTypeInfo::Request& request,
protocol::GetDataTypeInfo::Response& response)
{
/*
* Asking the Global Data Type Registry for the matching type descriptor, either by name or by ID
*/
const DataTypeDescriptor* desc = NULL;
if (request.name.empty())
{
response.id = request.id; // Pre-setting the fields so they have meaningful values even in
response.kind = request.kind; // ...case of failure.
if (!isValidDataTypeKind(DataTypeKind(request.kind.value)))
{
UAVCAN_TRACE("DataTypeInfoProvider", "GetDataTypeInfo request with invalid DataTypeKind %i",
static_cast<int>(request.kind.value));
return;
}
desc = GlobalDataTypeRegistry::instance().find(DataTypeKind(request.kind.value), request.id);
}
else
{
response.name = request.name;
desc = GlobalDataTypeRegistry::instance().find(request.name.c_str());
}
if (desc == NULL)
{
UAVCAN_TRACE("DataTypeInfoProvider",
"Cannot process GetDataTypeInfo for nonexistent type: dtid=%i dtk=%i name='%s'",
static_cast<int>(request.id), static_cast<int>(request.kind.value), request.name.c_str());
return;
}
UAVCAN_TRACE("DataTypeInfoProvider", "GetDataTypeInfo request for %s", desc->toString().c_str());
/*
* Filling the response struct
*/
response.signature = desc->getSignature().get();
response.id = desc->getID().get();
response.kind.value = desc->getKind();
response.mask = protocol::GetDataTypeInfo::Response::MASK_KNOWN;
response.name = desc->getFullName();
const Dispatcher& dispatcher = getNode().getDispatcher();
if (desc->getKind() == DataTypeKindService)
{
if (dispatcher.hasServer(desc->getID().get()))
{
response.mask |= protocol::GetDataTypeInfo::Response::MASK_SERVING;
}
}
else if (desc->getKind() == DataTypeKindMessage)
{
if (dispatcher.hasSubscriber(desc->getID().get()))
{
response.mask |= protocol::GetDataTypeInfo::Response::MASK_SUBSCRIBED;
}
if (dispatcher.hasPublisher(desc->getID().get()))
{
response.mask |= protocol::GetDataTypeInfo::Response::MASK_PUBLISHING;
}
}
else
{
UAVCAN_ASSERT(0); // That means that GDTR somehow found a type of an unknown kind. The horror.
}
}
int DataTypeInfoProvider::start()
{
int res = 0;
res = cats_srv_.start(
ComputeAggregateTypeSignatureCallback(this, &DataTypeInfoProvider::handleComputeAggregateTypeSignatureRequest));
if (res < 0)
{
goto fail;
}
res = gdti_srv_.start(GetDataTypeInfoCallback(this, &DataTypeInfoProvider::handleGetDataTypeInfoRequest));
if (res < 0)
{
goto fail;
}
UAVCAN_ASSERT(res >= 0);
return res;
fail:
UAVCAN_ASSERT(res < 0);
cats_srv_.stop();
gdti_srv_.stop();
return res;
}
}