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STM32 example: cleaner node instantiation

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This commit is contained in:
Pavel Kirienko 2015-10-09 01:51:37 +03:00
parent 70232725e6
commit 47da7f17df
1 changed files with 15 additions and 24 deletions
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39
libuavcan_drivers/stm32/test_stm32f107/src/main.cpp
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@ -15,17 +15,12 @@ namespace
uavcan_stm32::CanInitHelper<128> can;
typedef uavcan::Node<16384> Node;
constexpr unsigned NodePoolSize = 16384;
uavcan::LazyConstructor<Node> node_;
Node& getNode()
uavcan::Node<NodePoolSize>& getNode()
{
if (!node_.isConstructed())
{
node_.construct<uavcan::ICanDriver&, uavcan::ISystemClock&>(can.driver, uavcan_stm32::SystemClock::instance());
}
return *node_;
static uavcan::Node<NodePoolSize> node(can.driver, uavcan_stm32::SystemClock::instance());
return node;
}
void init()
@ -52,10 +47,8 @@ class : public chibios_rt::BaseStaticThread<8192>
{
void configureNodeInfo()
{
Node& node = app::getNode();
node.setNodeID(64);
node.setName("org.uavcan.stm32_test_stm32f107");
getNode().setNodeID(64);
getNode().setName("org.uavcan.stm32_test_stm32f107");
/*
* Software version
@ -66,7 +59,7 @@ class : public chibios_rt::BaseStaticThread<8192>
swver.vcs_commit = GIT_HASH;
swver.optional_field_flags = swver.OPTIONAL_FIELD_FLAG_VCS_COMMIT;
node.setSoftwareVersion(swver);
getNode().setSoftwareVersion(swver);
lowsyslog("Git commit hash: 0x%08x\n", GIT_HASH);
@ -80,7 +73,7 @@ class : public chibios_rt::BaseStaticThread<8192>
board::readUniqueID(uid);
std::copy(std::begin(uid), std::end(uid), std::begin(hwver.unique_id));
node.setHardwareVersion(hwver);
getNode().setHardwareVersion(hwver);
lowsyslog("UDID:");
for (auto b : hwver.unique_id)
@ -98,15 +91,13 @@ public:
*/
configureNodeInfo();
Node& node = app::getNode();
/*
* Initializing the UAVCAN node - this may take a while
*/
while (true)
{
// Calling start() multiple times is OK - only the first successfull call will be effective
int res = node.start();
int res = getNode().start();
if (res < 0)
{
@ -122,7 +113,7 @@ public:
/*
* Time synchronizer
*/
static uavcan::GlobalTimeSyncSlave time_sync_slave(node);
static uavcan::GlobalTimeSyncSlave time_sync_slave(getNode());
{
const int res = time_sync_slave.start();
if (res < 0)
@ -135,10 +126,10 @@ public:
* Main loop
*/
lowsyslog("UAVCAN node started\n");
node.setModeOperational();
getNode().setModeOperational();
while (true)
{
const int spin_res = node.spin(uavcan::MonotonicDuration::fromMSec(5000));
const int spin_res = getNode().spin(uavcan::MonotonicDuration::fromMSec(5000));
if (spin_res < 0)
{
lowsyslog("Spin failure: %i\n", spin_res);
@ -147,9 +138,9 @@ public:
lowsyslog("Time sync master: %u\n", unsigned(time_sync_slave.getMasterNodeID().get()));
lowsyslog("Memory usage: free=%u used=%u worst=%u\n",
node.getAllocator().getNumFreeBlocks(),
node.getAllocator().getNumUsedBlocks(),
node.getAllocator().getPeakNumUsedBlocks());
getNode().getAllocator().getNumFreeBlocks(),
getNode().getAllocator().getNumUsedBlocks(),
getNode().getAllocator().getPeakNumUsedBlocks());
lowsyslog("CAN errors: %lu %lu\n",
static_cast<unsigned long>(can.driver.getIface(0)->getErrorCount()),