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Cluster manager implementation, no tests yet

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This commit is contained in:
Pavel Kirienko
2015-05-04 19:00:39 +03:00
parent 1994260a2c
commit 51cd8404b1
2 changed files with 317 additions and 6 deletions
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libuavcan/include/uavcan/protocol/dynamic_node_id_allocation_server.hpp
+32 -6
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@@ -239,7 +239,7 @@ class ClusterManager : private TimerBase
struct Server
{
const NodeID node_id;
NodeID node_id;
Log::Index next_index;
Log::Index match_index;
@@ -251,7 +251,7 @@ class ClusterManager : private TimerBase
enum { MaxServers = protocol::dynamic_node_id::server::Discovery::FieldTypes::known_nodes::MaxSize };
const IDynamicNodeIDStorageBackend& storage_;
IDynamicNodeIDStorageBackend& storage_;
const Log& log_;
Subscriber<protocol::dynamic_node_id::server::Discovery, DiscoveryCallback> discovery_sub_;
@@ -262,11 +262,23 @@ class ClusterManager : private TimerBase
uint8_t cluster_size_;
uint8_t num_known_servers_;
bool had_discovery_activity_;
static IDynamicNodeIDStorageBackend::String getStorageKeyForClusterSize() { return "cluster_size"; }
INode& getNode() { return discovery_sub_.getNode(); }
const INode& getNode() const { return discovery_sub_.getNode(); }
Server* findServer(NodeID node_id);
const Server* findServer(NodeID node_id) const;
bool isKnownServer(NodeID node_id) const;
void addServer(NodeID node_id);
virtual void handleTimerEvent(const TimerEvent&);
void handleDiscovery(const ReceivedDataStructure<protocol::dynamic_node_id::server::Discovery>& msg);
void publishDiscovery() const;
void publishDiscovery();
public:
enum { ClusterSizeUnknown = 0 };
@@ -276,7 +288,7 @@ public:
* @param storage Needed to read the cluster size parameter from the storage
* @param log Needed to initialize nextIndex[] values after elections
*/
ClusterManager(INode& node, const IDynamicNodeIDStorageBackend& storage, const Log& log)
ClusterManager(INode& node, IDynamicNodeIDStorageBackend& storage, const Log& log)
: TimerBase(node)
, storage_(storage)
, log_(log)
@@ -284,6 +296,7 @@ public:
, discovery_pub_(node)
, cluster_size_(0)
, num_known_servers_(0)
, had_discovery_activity_(false)
{ }
/**
@@ -291,7 +304,7 @@ public:
* storage backend using key 'cluster_size'.
* Returns negative error code.
*/
int init(uint8_t cluster_size = ClusterSizeUnknown);
int init(uint8_t init_cluster_size = ClusterSizeUnknown);
/**
* An invalid node ID will be returned if there's no such server.
@@ -317,8 +330,21 @@ public:
*/
void resetAllServerIndices();
/**
* This method returns true if there was at least one Discovery message received since last call.
*/
bool hadDiscoveryActivity()
{
if (had_discovery_activity_)
{
had_discovery_activity_ = false;
return true;
}
return false;
}
uint8_t getNumKnownServers() const { return num_known_servers_; }
uint8_t getConfiguredClusterSize() const { return cluster_size_; }
uint8_t getClusterSize() const { return cluster_size_; }
uint8_t getQuorumSize() const { return static_cast<uint8_t>(cluster_size_ / 2U + 1U); }
};