Dispatcher class, tests to come

2026-10-25 04:33:33 +08:00 · 2014-02-14 19:19:23 +04:00
parent 69fa8643d4
commit 20c828912f
2 changed files with 304 additions and 0 deletions
@@ -0,0 +1,93 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#pragma once
+
+#include <cassert>
+#include <stdint.h>
+#include <uavcan/internal/transport/transfer_listener.hpp>
+#include <uavcan/internal/transport/outgoing_transfer_registry.hpp>
+#include <uavcan/internal/transport/can_io.hpp>
+#include <uavcan/internal/linked_list.hpp>
+
+namespace uavcan
+{
+
+class Dispatcher : Noncopyable
+{
+    CanIOManager canio_;
+    ISystemClock* const sysclock_;
+    IOutgoingTransferRegistry* const outgoing_transfer_reg_;
+
+    class ListenerRegister
+    {
+        LinkedListRoot<TransferListenerBase> list_;
+
+        class DataTypeIDInsertionComparator
+        {
+            const uint16_t id_;
+        public:
+            DataTypeIDInsertionComparator(uint16_t id) : id_(id) { }
+            bool operator()(const TransferListenerBase* listener) const
+            {
+                assert(listener);
+                return id_ > listener->getDataTypeDescriptor()->id;
+            }
+        };
+
+    public:
+        enum Mode { UNIQUE_LISTENER, MANY_LISTENERS };
+
+        bool add(TransferListenerBase* listener, Mode mode);
+        void remove(TransferListenerBase* listener);
+        void cleanup(uint64_t ts_monotonic);
+        void handleFrame(const RxFrame& frame);
+    };
+
+    ListenerRegister lmsg_;
+    ListenerRegister lsrv_req_;
+    ListenerRegister lsrv_resp_;
+
+    const uint8_t self_node_id_;
+
+    void handleFrame(const CanRxFrame& can_frame);
+
+public:
+    Dispatcher(ICanDriver* driver, IAllocator* allocator, ISystemClock* sysclock, IOutgoingTransferRegistry* otr,
+               uint8_t self_node_id)
+    : canio_(driver, allocator, sysclock)
+    , sysclock_(sysclock)
+    , outgoing_transfer_reg_(otr)
+    , self_node_id_(self_node_id)
+    {
+        assert(driver);
+        assert(allocator);
+        assert(sysclock);
+        assert(otr);
+    }
+
+    int spin(uint64_t monotonic_deadline);
+
+    /**
+     * Refer to CanIOManager::send() for the parameter description
+     */
+    int send(const Frame& frame, uint64_t monotonic_tx_deadline, uint64_t monotonic_blocking_deadline,
+             CanTxQueue::Qos qos);
+
+    void cleanup(uint64_t ts_monotonic);
+
+    bool registerMessageListener(TransferListenerBase* listener);
+    bool registerServiceRequestListener(TransferListenerBase* listener);
+    bool registerServiceResponseListener(TransferListenerBase* listener);
+
+    void unregisterMessageListener(TransferListenerBase* listener);
+    void unregisterServiceRequestListener(TransferListenerBase* listener);
+    void unregisterServiceResponseListener(TransferListenerBase* listener);
+
+    IOutgoingTransferRegistry* getOutgoingTransferRegistry() { return outgoing_transfer_reg_; }
+
+    uint8_t getSelfNodeID() const { return self_node_id_; }
+};
+
+}