From 5e5540b8ce3020b7ef826e994aeb70c4e08148e8 Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Sat, 16 May 2015 23:57:11 +0300
Subject: [PATCH] ServiceClient<>::hasPendingCallToServer()

---
 .../include/uavcan/node/service_client.hpp     | 18 ++++++++++++++++++
 libuavcan/test/node/service_client.cpp         |  9 +++++++++
 2 files changed, 27 insertions(+)

diff --git a/libuavcan/include/uavcan/node/service_client.hpp b/libuavcan/include/uavcan/node/service_client.hpp
index 47035056a1..b5a84715fa 100644
--- a/libuavcan/include/uavcan/node/service_client.hpp
+++ b/libuavcan/include/uavcan/node/service_client.hpp
@@ -165,6 +165,13 @@ protected:
         bool operator()(const CallState& state) const { return (state.getCallID() == id) && !state.hasTimedOut(); }
     };
 
+    struct ServerSearchPredicate
+    {
+        const NodeID server_node_id;
+        ServerSearchPredicate(NodeID nid) : server_node_id(nid) { }
+        bool operator()(const CallState& state) const { return state.getCallID().server_node_id == server_node_id; }
+    };
+
     MonotonicDuration request_timeout_;
 
     ServiceClientBase(INode& node)
@@ -329,6 +336,11 @@ public:
      */
     void cancelAllCalls();
 
+    /**
+     * Checks whether there's currently a pending call addressed to the specified node ID.
+     */
+    bool hasPendingCallToServer(NodeID server_node_id) const;
+
     /**
      * Service response callback must be set prior service call.
      */
@@ -538,6 +550,12 @@ void ServiceClient<DataType_, Callback_, NumStaticCalls_>::cancelAllCalls()
     SubscriberType::stop();
 }
 
+template <typename DataType_, typename Callback_, unsigned NumStaticCalls_>
+bool ServiceClient<DataType_, Callback_, NumStaticCalls_>::hasPendingCallToServer(NodeID server_node_id) const
+{
+    return NULL != call_registry_.find(ServerSearchPredicate(server_node_id));
+}
+
 }
 
 #endif // UAVCAN_NODE_SERVICE_CLIENT_HPP_INCLUDED
diff --git a/libuavcan/test/node/service_client.cpp b/libuavcan/test/node/service_client.cpp
index 4022de062e..8b24848a30 100644
--- a/libuavcan/test/node/service_client.cpp
+++ b/libuavcan/test/node/service_client.cpp
@@ -109,6 +109,8 @@ TEST(ServiceClient, Basic)
         ASSERT_EQ(0, client2.getNumPendingCalls());
         ASSERT_EQ(0, client3.getNumPendingCalls());
 
+        ASSERT_FALSE(client1.hasPendingCallToServer(1));
+
         client1.setCallback(handler.bind());
         client2.setCallback(client1.getCallback());
         client3.setCallback(client1.getCallback());
@@ -128,6 +130,11 @@ TEST(ServiceClient, Basic)
         ASSERT_LT(0, client3.call(99, request)); // Will timeout!
         ASSERT_LT(0, client3.call(1, request)); // OK - second request
 
+        ASSERT_TRUE(client1.hasPendingCallToServer(1));
+        ASSERT_TRUE(client2.hasPendingCallToServer(1));
+        ASSERT_TRUE(client3.hasPendingCallToServer(99));
+        ASSERT_TRUE(client3.hasPendingCallToServer(1));
+
         std::cout << "!!! Spinning!" << std::endl;
 
         ASSERT_EQ(3, nodes.b.getDispatcher().getNumServiceResponseListeners()); // Listening now!
@@ -211,9 +218,11 @@ TEST(ServiceClient, Rejection)
 
     ASSERT_EQ(1, nodes.b.getDispatcher().getNumServiceResponseListeners());
     ASSERT_TRUE(client1.hasPendingCalls());
+    ASSERT_TRUE(client1.hasPendingCallToServer(1));
 
     nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(200));
     ASSERT_FALSE(client1.hasPendingCalls());
+    ASSERT_FALSE(client1.hasPendingCallToServer(1));
 
     ASSERT_EQ(0, nodes.b.getDispatcher().getNumServiceResponseListeners()); // Timed out