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Out of line methods - Node<>

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This commit is contained in:
Pavel Kirienko
2014-04-09 15:58:29 +04:00
parent 6177e27f8d
commit 5bd2f0ea74
1 changed files with 66 additions and 54 deletions
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libuavcan/include/uavcan/node/node.hpp
+66 -54
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@@ -49,19 +49,7 @@ class UAVCAN_EXPORT Node : public INode
bool started_; bool started_;
int initNetwork(NodeInitializationResult& node_init_result) int initNetwork(NodeInitializationResult& node_init_result);
{
int res = NodeInitializer::publishGlobalDiscoveryRequest(*this);
if (res < 0)
{
return res;
}
NodeInitializer initializer(*this);
StaticAssert<(sizeof(initializer) < 1200)>::check();
res = initializer.execute();
node_init_result = initializer.getResult();
return res;
}
protected: protected:
virtual void registerInternalFailure(const char* msg) virtual void registerInternalFailure(const char* msg)
@@ -109,47 +97,7 @@ public:
bool isStarted() const { return started_; } bool isStarted() const { return started_; }
int start(NodeInitializationResult& node_init_result) int start(NodeInitializationResult& node_init_result);
{
if (started_)
{
return 0;
}
GlobalDataTypeRegistry::instance().freeze();
int res = 0;
res = proto_dtp_.start();
if (res < 0)
{
goto fail;
}
res = proto_logger_.init();
if (res < 0)
{
goto fail;
}
res = proto_nsp_.startAndPublish();
if (res < 0)
{
goto fail;
}
res = proto_rrs_.start();
if (res < 0)
{
goto fail;
}
res = proto_tsp_.start();
if (res < 0)
{
goto fail;
}
res = initNetwork(node_init_result);
started_ = (res >= 0) && node_init_result.isOk();
return res;
fail:
assert(res < 0);
return res;
}
/* /*
* Initialization methods * Initialization methods
@@ -219,4 +167,68 @@ public:
Logger& getLogger() { return proto_logger_; } Logger& getLogger() { return proto_logger_; }
}; };
// ----------------------------------------------------------------------------
template <std::size_t MemPoolSize_, unsigned OutgoingTransferRegistryStaticEntries,
unsigned OutgoingTransferMaxPayloadLen>
int Node<MemPoolSize_, OutgoingTransferRegistryStaticEntries, OutgoingTransferMaxPayloadLen>::
initNetwork(NodeInitializationResult& node_init_result)
{
int res = NodeInitializer::publishGlobalDiscoveryRequest(*this);
if (res < 0)
{
return res;
}
NodeInitializer initializer(*this);
StaticAssert<(sizeof(initializer) < 1200)>::check();
res = initializer.execute();
node_init_result = initializer.getResult();
return res;
}
template <std::size_t MemPoolSize_, unsigned OutgoingTransferRegistryStaticEntries,
unsigned OutgoingTransferMaxPayloadLen>
int Node<MemPoolSize_, OutgoingTransferRegistryStaticEntries, OutgoingTransferMaxPayloadLen>::
start(NodeInitializationResult& node_init_result)
{
if (started_)
{
return 0;
}
GlobalDataTypeRegistry::instance().freeze();
int res = 0;
res = proto_dtp_.start();
if (res < 0)
{
goto fail;
}
res = proto_logger_.init();
if (res < 0)
{
goto fail;
}
res = proto_nsp_.startAndPublish();
if (res < 0)
{
goto fail;
}
res = proto_rrs_.start();
if (res < 0)
{
goto fail;
}
res = proto_tsp_.start();
if (res < 0)
{
goto fail;
}
res = initNetwork(node_init_result);
started_ = (res >= 0) && node_init_result.isOk();
return res;
fail:
assert(res < 0);
return res;
}
} }