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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/transport/transfer_listener.hpp
+40 -57
View File
@@ -178,88 +178,71 @@ public:
virtual ~TransferListener()
{
// Map must be cleared before bufmgr is destructed
// Map must be cleared before bufmgr is destroyed
receivers_.removeAll();
}
};
/**
* This class is used by transfer listener to decide if the frame should be accepted or ignored.
*/
class ITransferAcceptanceFilter
{
public:
/**
* If it returns false, the frame will be ignored, otherwise accepted.
*/
virtual bool shouldAcceptFrame(const RxFrame& frame) const = 0;
virtual ~ITransferAcceptanceFilter() { }
};
/**
* This class should be derived by callers.
*/
template <unsigned MaxBufSize, unsigned NumStaticBufs, unsigned NumStaticReceivers>
class UAVCAN_EXPORT ServiceResponseTransferListener
: public TransferListener<MaxBufSize, NumStaticBufs, NumStaticReceivers>
class UAVCAN_EXPORT TransferListenerWithFilter : public TransferListener<MaxBufSize, NumStaticBufs, NumStaticReceivers>
{
const ITransferAcceptanceFilter* filter_;
virtual void handleFrame(const RxFrame& frame);
public:
typedef TransferListener<MaxBufSize, NumStaticBufs, NumStaticReceivers> BaseType;
struct ExpectedResponseParams
{
NodeID src_node_id;
TransferID transfer_id;
ExpectedResponseParams()
{
UAVCAN_ASSERT(!src_node_id.isValid());
}
ExpectedResponseParams(NodeID arg_src_node_id, TransferID arg_transfer_id)
: src_node_id(arg_src_node_id)
, transfer_id(arg_transfer_id)
{
UAVCAN_ASSERT(src_node_id.isUnicast());
}
bool match(const RxFrame& frame) const
{
UAVCAN_ASSERT(frame.getTransferType() == TransferTypeServiceResponse);
return (frame.getSrcNodeID() == src_node_id) && (frame.getTransferID() == transfer_id);
}
};
private:
ExpectedResponseParams response_params_;
void handleFrame(const RxFrame& frame);
public:
ServiceResponseTransferListener(TransferPerfCounter& perf, const DataTypeDescriptor& data_type,
IPoolAllocator& allocator)
TransferListenerWithFilter(TransferPerfCounter& perf, const DataTypeDescriptor& data_type,
IPoolAllocator& allocator)
: BaseType(perf, data_type, allocator)
, filter_(NULL)
{ }
void setExpectedResponseParams(const ExpectedResponseParams& erp);
const ExpectedResponseParams& getExpectedResponseParams() const { return response_params_; }
void stopAcceptingAnything();
void installAcceptanceFilter(const ITransferAcceptanceFilter* acceptance_filter)
{
UAVCAN_ASSERT(filter_ == NULL);
filter_ = acceptance_filter;
UAVCAN_ASSERT(filter_ != NULL);
}
};
// ----------------------------------------------------------------------------
/*
* ServiceResponseTransferListener<>
* TransferListenerWithFilter<>
*/
template <unsigned MaxBufSize, unsigned NumStaticBufs, unsigned NumStaticReceivers>
void ServiceResponseTransferListener<MaxBufSize, NumStaticBufs, NumStaticReceivers>::handleFrame(const RxFrame& frame)
void TransferListenerWithFilter<MaxBufSize, NumStaticBufs, NumStaticReceivers>::handleFrame(const RxFrame& frame)
{
if (response_params_.match(frame))
if (filter_ != NULL)
{
BaseType::handleFrame(frame);
if (filter_->shouldAcceptFrame(frame))
{
BaseType::handleFrame(frame);
}
}
else
{
UAVCAN_ASSERT(0);
}
}
template <unsigned MaxBufSize, unsigned NumStaticBufs, unsigned NumStaticReceivers>
void ServiceResponseTransferListener<MaxBufSize, NumStaticBufs, NumStaticReceivers>::setExpectedResponseParams(
const ExpectedResponseParams& erp)
{
response_params_ = erp;
}
template <unsigned MaxBufSize, unsigned NumStaticBufs, unsigned NumStaticReceivers>
void ServiceResponseTransferListener<MaxBufSize, NumStaticBufs, NumStaticReceivers>::stopAcceptingAnything()
{
response_params_ = ExpectedResponseParams();
}
}