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Linux driver: Refactored node instantiation helpers

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This commit is contained in:
Pavel Kirienko
2015-06-08 21:30:48 +03:00
parent 83dd399cda
commit 2b8517905d
1 changed files with 57 additions and 29 deletions
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libuavcan_drivers/linux/include/uavcan_linux/helpers.hpp
+57 -29
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@@ -116,12 +116,28 @@ public:
struct DriverPack
{
SystemClock clock;
SocketCanDriver can;
std::shared_ptr<uavcan::ICanDriver> can;
explicit DriverPack(ClockAdjustmentMode clock_adjustment_mode)
explicit DriverPack(ClockAdjustmentMode clock_adjustment_mode,
const std::shared_ptr<uavcan::ICanDriver>& can_driver)
: clock(clock_adjustment_mode)
, can(clock)
, can(can_driver)
{ }
explicit DriverPack(ClockAdjustmentMode clock_adjustment_mode,
const std::vector<std::string>& iface_names)
: clock(clock_adjustment_mode)
{
std::shared_ptr<SocketCanDriver> socketcan(new SocketCanDriver(clock));
can = socketcan;
for (auto ifn : iface_names)
{
if (socketcan->addIface(ifn) < 0)
{
throw Exception("Failed to add iface " + ifn);
}
}
}
};
typedef std::shared_ptr<DriverPack> DriverPackPtr;
@@ -168,7 +184,7 @@ public:
* Takes ownership of the driver container via the shared pointer.
*/
explicit NodeBase(DriverPackPtr driver_pack)
: NodeType(driver_pack->can, driver_pack->clock)
: NodeType(*driver_pack->can, driver_pack->clock)
, driver_pack_(driver_pack)
{ }
@@ -275,6 +291,7 @@ public:
/**
* Wrapper for uavcan::Node with some additional convenience functions.
* Note that this wrapper adds stderr log sink to @ref uavcan::Logger, which can be removed if needed.
* Do not instantiate this class directly; instead use the factory functions defined below.
*/
class Node : public NodeBase<uavcan::Node<NodeMemPoolSize>>
{
@@ -304,6 +321,7 @@ public:
/**
* Wrapper for uavcan::SubNode with some additional convenience functions.
* Do not instantiate this class directly; instead use the factory functions defined below.
*/
class SubNode : public NodeBase<uavcan::SubNode<NodeMemPoolSize>>
{
@@ -325,47 +343,57 @@ typedef std::shared_ptr<Node> NodePtr;
typedef std::shared_ptr<SubNode> SubNodePtr;
/**
* Constructs a node object of specified type with explicitly specified ClockAdjustmentMode.
* Please consider using the static instantiation methods instead.
* Use this function to create a node instance with default SocketCAN driver.
* It accepts the list of interface names to use for the new node, e.g. "can1", "vcan2", "slcan0".
* Clock adjustment mode will be detected automatically unless provided explicitly.
* @throws uavcan_linux::Exception.
*/
template <typename N>
static inline std::shared_ptr<N> makeAnyNodeWithCustomClockAdjustmentMode(const std::vector<std::string>& iface_names,
ClockAdjustmentMode clock_adjustment_mode)
static inline NodePtr makeNode(const std::vector<std::string>& iface_names,
ClockAdjustmentMode clock_adjustment_mode =
SystemClock::detectPreferredClockAdjustmentMode())
{
DriverPackPtr dp(new DriverPack(clock_adjustment_mode));
for (auto ifn : iface_names)
{
if (dp->can.addIface(ifn) < 0)
{
throw Exception("Failed to add iface " + ifn);
}
}
return std::shared_ptr<N>(new N(dp));
DriverPackPtr dp(new DriverPack(clock_adjustment_mode, iface_names));
return NodePtr(new Node(dp));
}
/**
* Use this function to create a node instance.
* It accepts the list of interface names to use for the new node, e.g. "can1", "vcan2", "slcan0".
* Clock adjustment mode will be detected automatically.
* Use this function to create a node instance with a custom driver.
* Clock adjustment mode will be detected automatically unless provided explicitly.
* @throws uavcan_linux::Exception.
*/
static inline NodePtr makeNode(const std::vector<std::string>& iface_names)
static inline NodePtr makeNode(const std::shared_ptr<uavcan::ICanDriver>& can_driver,
ClockAdjustmentMode clock_adjustment_mode =
SystemClock::detectPreferredClockAdjustmentMode())
{
return makeAnyNodeWithCustomClockAdjustmentMode<Node>(iface_names,
SystemClock::detectPreferredClockAdjustmentMode());
DriverPackPtr dp(new DriverPack(clock_adjustment_mode, can_driver));
return NodePtr(new Node(dp));
}
/**
* Use this function to create a sub-node instance.
* Use this function to create a sub-node instance with default SocketCAN driver.
* It accepts the list of interface names to use for the new node, e.g. "can1", "vcan2", "slcan0".
* Clock adjustment mode will be detected automatically.
* Clock adjustment mode will be detected automatically unless provided explicitly.
* @throws uavcan_linux::Exception.
*/
static inline SubNodePtr makeSubNode(const std::vector<std::string>& iface_names)
static inline NodePtr makeSubNode(const std::vector<std::string>& iface_names,
ClockAdjustmentMode clock_adjustment_mode =
SystemClock::detectPreferredClockAdjustmentMode())
{
return makeAnyNodeWithCustomClockAdjustmentMode<SubNode>(iface_names,
SystemClock::detectPreferredClockAdjustmentMode());
DriverPackPtr dp(new DriverPack(clock_adjustment_mode, iface_names));
return SubNodePtr(new SubNode(dp));
}
/**
* Use this function to create a sub-node instance with a custom driver.
* Clock adjustment mode will be detected automatically unless provided explicitly.
* @throws uavcan_linux::Exception.
*/
static inline SubNodePtr makeSubNode(const std::shared_ptr<uavcan::ICanDriver>& can_driver,
ClockAdjustmentMode clock_adjustment_mode =
SystemClock::detectPreferredClockAdjustmentMode())
{
DriverPackPtr dp(new DriverPack(clock_adjustment_mode, can_driver));
return SubNodePtr(new SubNode(dp));
}
}