Refactoring - Scheduler, GenericPublisher, GenericSubscruber moved into /uavcan/internal/node/*

libuavcan/include/uavcan/internal/node/marshal_buffer.hpp

@@ -0,0 +1,68 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#pragma once
+
+#include <uavcan/internal/transport/transfer.hpp>
+#include <uavcan/internal/transport/transfer_buffer.hpp>
+
+namespace uavcan
+{
+
+class IMarshalBuffer : public ITransferBuffer
+{
+public:
+    virtual const uint8_t* getDataPtr() const = 0;
+    virtual unsigned int getDataLength() const = 0;
+};
+
+
+class IMarshalBufferProvider
+{
+public:
+    virtual ~IMarshalBufferProvider() { }
+    virtual IMarshalBuffer* getBuffer(unsigned int size) = 0;
+};
+
+
+template <unsigned int MaxSize_ = MaxTransferPayloadLen>
+class MarshalBufferProvider : public IMarshalBufferProvider
+{
+    class Buffer : public IMarshalBuffer
+    {
+        StaticTransferBuffer<MaxSize_> buf_;
+
+        int read(unsigned int offset, uint8_t* data, unsigned int len) const
+        {
+            return buf_.read(offset, data, len);
+        }
+
+        int write(unsigned int offset, const uint8_t* data, unsigned int len)
+        {
+            return buf_.write(offset, data, len);
+        }
+
+        const uint8_t* getDataPtr() const { return buf_.getRawPtr(); }
+
+        unsigned int getDataLength() const { return buf_.getMaxWritePos(); }
+
+    public:
+        void reset() { buf_.reset(); }
+    };
+
+    Buffer buffer_;
+
+public:
+    enum { MaxSize = MaxSize_ };
+
+    IMarshalBuffer* getBuffer(unsigned int size)
+    {
+        if (size > MaxSize)
+            return NULL;
+        buffer_.reset();
+        return &buffer_;
+    }
+};
+
+}