Space optimized GenericSubscriber

libuavcan/src/node/uc_generic_subscriber.cpp

@@ -0,0 +1,37 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#include <uavcan/node/generic_subscriber.hpp>
+
+namespace uavcan
+{
+
+int GenericSubscriberBase::genericStart(TransferListenerBase* listener,
+                                        bool (Dispatcher::*registration_method)(TransferListenerBase*))
+{
+    if (listener == NULL)
+    {
+        assert(0);
+        return -ErrLogic;
+    }
+    stop(listener);
+    if (!(node_.getDispatcher().*registration_method)(listener))
+    {
+        UAVCAN_TRACE("GenericSubscriber", "Failed to register transfer listener");
+        return -ErrInvalidTransferListener;
+    }
+    return 0;
+}
+
+void GenericSubscriberBase::stop(TransferListenerBase* listener)
+{
+    if (listener != NULL)
+    {
+        node_.getDispatcher().unregisterMessageListener(listener);
+        node_.getDispatcher().unregisterServiceRequestListener(listener);
+        node_.getDispatcher().unregisterServiceResponseListener(listener);
+    }
+}
+
+}