fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-01 04:41:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

ServiceClient<>::hasPendingCallToServer()

Browse Source
This commit is contained in:
Pavel Kirienko
2015-05-16 23:57:11 +03:00
parent 0553d18cf9
commit 5e5540b8ce
2 changed files with 27 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
libuavcan/include/uavcan/node/service_client.hpp
+18
View File
@@ -165,6 +165,13 @@ protected:
bool operator()(const CallState& state) const { return (state.getCallID() == id) && !state.hasTimedOut(); } 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_; MonotonicDuration request_timeout_;
ServiceClientBase(INode& node) ServiceClientBase(INode& node)
@@ -329,6 +336,11 @@ public:
*/ */
void cancelAllCalls(); 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. * Service response callback must be set prior service call.
*/ */
@@ -538,6 +550,12 @@ void ServiceClient<DataType_, Callback_, NumStaticCalls_>::cancelAllCalls()
SubscriberType::stop(); 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 #endif // UAVCAN_NODE_SERVICE_CLIENT_HPP_INCLUDED
libuavcan/test/node/service_client.cpp
+9
View File
@@ -109,6 +109,8 @@ TEST(ServiceClient, Basic)
ASSERT_EQ(0, client2.getNumPendingCalls()); ASSERT_EQ(0, client2.getNumPendingCalls());
ASSERT_EQ(0, client3.getNumPendingCalls()); ASSERT_EQ(0, client3.getNumPendingCalls());
ASSERT_FALSE(client1.hasPendingCallToServer(1));
client1.setCallback(handler.bind()); client1.setCallback(handler.bind());
client2.setCallback(client1.getCallback()); client2.setCallback(client1.getCallback());
client3.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(99, request)); // Will timeout!
ASSERT_LT(0, client3.call(1, request)); // OK - second request 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; std::cout << "!!! Spinning!" << std::endl;
ASSERT_EQ(3, nodes.b.getDispatcher().getNumServiceResponseListeners()); // Listening now! ASSERT_EQ(3, nodes.b.getDispatcher().getNumServiceResponseListeners()); // Listening now!
@@ -211,9 +218,11 @@ TEST(ServiceClient, Rejection)
ASSERT_EQ(1, nodes.b.getDispatcher().getNumServiceResponseListeners()); ASSERT_EQ(1, nodes.b.getDispatcher().getNumServiceResponseListeners());
ASSERT_TRUE(client1.hasPendingCalls()); ASSERT_TRUE(client1.hasPendingCalls());
ASSERT_TRUE(client1.hasPendingCallToServer(1));
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(200)); nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(200));
ASSERT_FALSE(client1.hasPendingCalls()); ASSERT_FALSE(client1.hasPendingCalls());
ASSERT_FALSE(client1.hasPendingCallToServer(1));
ASSERT_EQ(0, nodes.b.getDispatcher().getNumServiceResponseListeners()); // Timed out ASSERT_EQ(0, nodes.b.getDispatcher().getNumServiceResponseListeners()); // Timed out