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Subscriber properly handles types that do not require buffering (i.e. types that do not require MFT transport). Ugly test added.

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This commit is contained in:
Pavel Kirienko
2014-03-10 01:50:42 +04:00
parent 30aa1bdecc
commit 2aa9d8cdb5
3 changed files with 70 additions and 5 deletions
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libuavcan/include/uavcan/internal/transport/transfer.hpp
+2
View File
@@ -14,6 +14,8 @@ namespace uavcan
enum { MaxTransferPayloadLen = 439 }; ///< According to the standard
enum { MaxSingleFrameTransferPayloadLen = 7 };
enum TransferType
{
TransferTypeServiceResponse = 0,
libuavcan/include/uavcan/subscriber.hpp
+9 -5
View File
@@ -20,18 +20,22 @@ namespace uavcan
template <typename DataType_,
typename Callback = void(*)(const ReceivedDataStructure<DataType_>&),
unsigned int NumStaticBufs = 1,
unsigned int NumStaticReceivers = NumStaticBufs + 1>
unsigned int NumStaticReceivers = 2,
unsigned int NumStaticBufs_ = 1>
class Subscriber : Noncopyable
{
typedef Subscriber<DataType_, Callback, NumStaticBufs, NumStaticReceivers> SelfType;
typedef Subscriber<DataType_, Callback, NumStaticReceivers, NumStaticBufs_> SelfType;
public:
typedef DataType_ DataType;
private:
typedef TransferListener<BitLenToByteLen<DataType::MaxBitLen>::Result,
NumStaticBufs ? NumStaticBufs : 1, // TODO: add support for zero buffers
enum { DataTypeMaxByteLen = BitLenToByteLen<DataType::MaxBitLen>::Result };
enum { NeedsBuffer = int(DataTypeMaxByteLen) > int(MaxSingleFrameTransferPayloadLen) };
enum { BufferSize = NeedsBuffer ? DataTypeMaxByteLen : 0 };
enum { NumStaticBufs = NeedsBuffer ? (NumStaticBufs_ ? NumStaticBufs_ : 1) : 0 };
typedef TransferListener<BufferSize, NumStaticBufs, // TODO: support for zero static bufs
NumStaticReceivers ? NumStaticReceivers : 1> TransferListenerType;
// We need to break the inheritance chain here to implement lazy initialization