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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
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@@ -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_; }
};