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Refactored GenericSubscriber<> to support the upcoming Caller<>

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This commit is contained in:
Pavel Kirienko
2014-03-13 13:00:03 +04:00
parent beaba20749
commit 2eaa4b3c31
3 changed files with 31 additions and 12 deletions
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libuavcan/include/uavcan/internal/node/generic_subscriber.hpp
+15 -7
View File
@@ -56,18 +56,24 @@ public:
};
template <typename DataSpec, typename DataStruct, unsigned int NumStaticReceivers, unsigned int NumStaticBufs_>
class GenericSubscriber : Noncopyable
template <typename DataStruct_, unsigned int NumStaticReceivers_, unsigned int NumStaticBufs_>
class TransferListenerInstantiationHelper
{
typedef GenericSubscriber<DataSpec, DataStruct, NumStaticReceivers, NumStaticBufs_> SelfType;
enum { DataTypeMaxByteLen = BitLenToByteLen<DataStruct::MaxBitLen>::Result };
enum { DataTypeMaxByteLen = BitLenToByteLen<DataStruct_::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;
public:
// TODO: support for zero static bufs
typedef TransferListener<BufferSize, NumStaticBufs, NumStaticReceivers_ ? NumStaticReceivers_ : 1> Type;
};
template <typename DataSpec, typename DataStruct, typename TransferListenerType>
class GenericSubscriber : Noncopyable
{
typedef GenericSubscriber<DataSpec, DataStruct, TransferListenerType> SelfType;
// We need to break the inheritance chain here to implement lazy initialization
class TransferForwarder : public TransferListenerType
@@ -201,6 +207,8 @@ protected:
uint32_t getFailureCount() const { return failure_count_; }
TransferListenerType* getTransferListener() { return forwarder_; }
public:
Scheduler& getScheduler() const { return scheduler_; }
};
libuavcan/include/uavcan/server.hpp
+9 -3
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@@ -11,10 +11,14 @@ namespace uavcan
{
template <typename DataType_,
typename Callback = void(*)(const ReceivedDataStructure<typename DataType_::Request>&, typename DataType_::Response&),
typename Callback = void(*)(const ReceivedDataStructure<typename DataType_::Request>&,
typename DataType_::Response&),
unsigned int NumStaticReceivers = 2,
unsigned int NumStaticBufs = 1>
class Server : public GenericSubscriber<DataType_, typename DataType_::Request, NumStaticReceivers, NumStaticBufs>
class Server : public GenericSubscriber<DataType_, typename DataType_::Request,
typename TransferListenerInstantiationHelper<typename DataType_::Request,
NumStaticReceivers,
NumStaticBufs>::Type>
{
public:
typedef DataType_ DataType;
@@ -22,7 +26,9 @@ public:
typedef typename DataType::Response ResponseType;
private:
typedef GenericSubscriber<DataType, RequestType, NumStaticReceivers, NumStaticBufs> SubscriberType;
typedef typename TransferListenerInstantiationHelper<RequestType, NumStaticReceivers, NumStaticBufs>::Type
TransferListenerType;
typedef GenericSubscriber<DataType, RequestType, TransferListenerType> SubscriberType;
typedef GenericPublisher<DataType, ResponseType> PublisherType;
PublisherType publisher_;
libuavcan/include/uavcan/subscriber.hpp
+7 -2
View File
@@ -14,9 +14,14 @@ template <typename DataType_,
typename Callback = void(*)(const ReceivedDataStructure<DataType_>&),
unsigned int NumStaticReceivers = 2,
unsigned int NumStaticBufs = 1>
class Subscriber : public GenericSubscriber<DataType_, DataType_, NumStaticReceivers, NumStaticBufs>
class Subscriber : public GenericSubscriber<DataType_, DataType_,
typename TransferListenerInstantiationHelper<DataType_,
NumStaticReceivers,
NumStaticBufs>::Type>
{
typedef GenericSubscriber<DataType_, DataType_, NumStaticReceivers, NumStaticBufs> BaseType;
typedef typename TransferListenerInstantiationHelper<DataType_, NumStaticReceivers, NumStaticBufs>::Type
TransferListenerType;
typedef GenericSubscriber<DataType_, DataType_, TransferListenerType> BaseType;
Callback callback_;