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Using concurrent calls in NodeInfoRetriever

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This commit is contained in:
Pavel Kirienko
2015-05-17 00:01:49 +03:00
parent 5e5540b8ce
commit 2123853cae
1 changed files with 21 additions and 5 deletions
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libuavcan/include/uavcan/protocol/node_info_retriever.hpp
+21 -5
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@@ -69,7 +69,6 @@ class UAVCAN_EXPORT NodeInfoRetriever : NodeStatusMonitor
{
public:
enum { MaxNumRequestAttempts = 254 };
enum { DefaultNumRequestAttempts = 30 };
enum { UnlimitedRequestAttempts = 0 };
private:
@@ -136,6 +135,9 @@ private:
}
};
enum { NumStaticCalls = 4 };
enum { DefaultNumRequestAttempts = 30 };
/*
* State
*/
@@ -143,11 +145,12 @@ private:
Multiset<INodeInfoListener*, 2> listeners_;
ServiceClient<protocol::GetNodeInfo, GetNodeInfoResponseCallback> get_node_info_client_;
ServiceClient<protocol::GetNodeInfo, GetNodeInfoResponseCallback, NumStaticCalls> get_node_info_client_;
mutable uint8_t last_picked_node_;
uint8_t num_attempts_;
uint8_t max_concurrent_requests_;
/*
* Methods
@@ -185,7 +188,9 @@ private:
(last_picked_node_ <= NodeID::Max));
const Entry& entry = getEntry(last_picked_node_);
if (entry.request_needed && entry.updated_since_last_attempt)
if (entry.request_needed &&
entry.updated_since_last_attempt &&
!get_node_info_client_.hasPendingCallToServer(last_picked_node_))
{
UAVCAN_TRACE("NodeInfoRetriever", "Next node to query: %d", int(last_picked_node_));
return NodeID(last_picked_node_);
@@ -196,9 +201,9 @@ private:
virtual void handleTimerEvent(const TimerEvent&)
{
if (get_node_info_client_.hasPendingCalls()) // If request is pending, this condition will fail every second time
if (get_node_info_client_.getNumPendingCalls() >= max_concurrent_requests_)
{
return; // TODO FIXME Concurrent calls!!
return;
}
const NodeID next = pickNextNodeToQuery();
@@ -313,6 +318,7 @@ public:
, get_node_info_client_(node)
, last_picked_node_(1)
, num_attempts_(DefaultNumRequestAttempts)
, max_concurrent_requests_(NumStaticCalls * 2)
{ }
/**
@@ -382,6 +388,16 @@ public:
{
num_attempts_ = min(static_cast<uint8_t>(MaxNumRequestAttempts), num);
}
/**
* Number of concurrent requests limits the number of simultaneous service calls to different nodes.
* This value cannot be less than one.
*/
uint8_t getNumConcurrentRequests() const { return max_concurrent_requests_; }
void setNumConcurrentRequests(uint8_t num)
{
max_concurrent_requests_ = max(static_cast<uint8_t>(1), num);
}
};
}