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Partially refactored ServiceClient, tests are failing, the code is totally broken

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This commit is contained in:
Pavel Kirienko
2015-05-15 18:41:38 +03:00
parent ee761eebad
commit 282b995c1e
15 changed files with 435 additions and 307 deletions
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libuavcan/include/uavcan/protocol/network_compat_checker.hpp
+8 -8
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@@ -87,7 +87,7 @@ class UAVCAN_EXPORT NetworkCompatibilityChecker : Noncopyable
int waitForCATSResponse()
{
while (cats_cln_.isPending())
while (cats_cln_.hasPendingCalls())
{
const int res = getNode().spin(MonotonicDuration::fromMSec(10));
if (res < 0 || !result_.isOk())
@@ -119,15 +119,15 @@ class UAVCAN_EXPORT NetworkCompatibilityChecker : Noncopyable
if (last_cats_request_ok_)
{
const DataTypeSignature sign = GlobalDataTypeRegistry::instance().
computeAggregateSignature(checking_dtkind_, resp.response.mutually_known_ids);
computeAggregateSignature(checking_dtkind_, resp.getResponse().mutually_known_ids);
UAVCAN_TRACE("NodeInitializer", "CATS response from nid=%i; local=%llu remote=%llu",
int(resp.server_node_id.get()), static_cast<unsigned long long>(sign.get()),
static_cast<unsigned long long>(resp.response.aggregate_signature));
int(resp.getCallID().server_node_id.get()), static_cast<unsigned long long>(sign.get()),
static_cast<unsigned long long>(resp.getResponse().aggregate_signature));
if (sign.get() != resp.response.aggregate_signature)
if (sign.get() != resp.getResponse().aggregate_signature)
{
result_.conflicting_node = resp.server_node_id;
result_.conflicting_node = resp.getCallID().server_node_id;
}
}
}
@@ -138,7 +138,7 @@ class UAVCAN_EXPORT NetworkCompatibilityChecker : Noncopyable
StaticAssert<DataTypeKindService == int(protocol::DataTypeKind::SERVICE)>::check();
UAVCAN_ASSERT(nid.isUnicast());
UAVCAN_ASSERT(!cats_cln_.isPending());
UAVCAN_ASSERT(!cats_cln_.hasPendingCalls());
checking_dtkind_ = kind;
protocol::ComputeAggregateTypeSignature::Request request;
@@ -253,7 +253,7 @@ public:
exit:
ns_sub_.stop();
cats_cln_.cancel();
cats_cln_.cancelAll();
return res;
}