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Fixed publication timeouts (Server, Publisher, GenericPublisher)

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This commit is contained in:
Pavel Kirienko
2014-03-13 14:45:31 +04:00
parent 2eaa4b3c31
commit 51833fb08f
3 changed files with 30 additions and 10 deletions
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libuavcan/include/uavcan/internal/node/generic_publisher.hpp
+12 -5
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@@ -94,13 +94,18 @@ class GenericPublisher
}
public:
GenericPublisher(Scheduler& scheduler, IMarshalBufferProvider& buffer_provider,
GenericPublisher(Scheduler& scheduler, IMarshalBufferProvider& buffer_provider, MonotonicDuration tx_timeout,
MonotonicDuration max_transfer_interval = TransferSender::getDefaultMaxTransferInterval())
: max_transfer_interval_(max_transfer_interval)
, tx_timeout_(getDefaultTxTimeout())
, tx_timeout_(tx_timeout)
, scheduler_(scheduler)
, buffer_provider_(buffer_provider)
{ }
{
setTxTimeout(tx_timeout);
#if UAVCAN_DEBUG
assert(getTxTimeout() == tx_timeout); // Making sure default values are OK
#endif
}
~GenericPublisher() { }
@@ -116,13 +121,15 @@ public:
return genericPublish(message, transfer_type, dst_node_id, &tid, blocking_deadline);
}
static MonotonicDuration getDefaultTxTimeout() { return MonotonicDuration::fromUSec(2500); }// 2500ms --> 400Hz max
static MonotonicDuration getMinTxTimeout() { return MonotonicDuration::fromUSec(200); }
static MonotonicDuration getMaxTxTimeout() { return MonotonicDuration::fromMSec(60000); }
MonotonicDuration getTxTimeout() const { return tx_timeout_; }
void setTxTimeout(MonotonicDuration tx_timeout)
{
tx_timeout_ = std::max(tx_timeout, getMinTxTimeout());
tx_timeout = std::max(tx_timeout, getMinTxTimeout());
tx_timeout = std::min(tx_timeout, getMaxTxTimeout());
tx_timeout_ = tx_timeout;
}
Scheduler& getScheduler() const { return scheduler_; }