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INode class. Publisher, Subscriber, ServiceServer, ServiceClient now accept INode in constructor instead of the bunch of independent params. Self NodeID now being configured via setNodeID() method instead of constructor param

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This commit is contained in:
Pavel Kirienko
2014-03-14 19:54:27 +04:00
parent 15cbf96378
commit 613efa49b9
22 changed files with 211 additions and 181 deletions
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libuavcan/include/uavcan/node/abstract_node.hpp
+46
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@@ -0,0 +1,46 @@
/*
* Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
*/
#pragma once
#include <uavcan/node/scheduler.hpp>
#include <uavcan/node/marshal_buffer.hpp>
namespace uavcan
{
class INode
{
public:
virtual ~INode() { }
virtual IAllocator& getAllocator() = 0;
virtual Scheduler& getScheduler() = 0;
virtual const Scheduler& getScheduler() const = 0;
virtual IMarshalBufferProvider& getMarshalBufferProvider() = 0;
Dispatcher& getDispatcher() { return getScheduler().getDispatcher(); }
const Dispatcher& getDispatcher() const { return getScheduler().getDispatcher(); }
ISystemClock& getSystemClock() { return getScheduler().getSystemClock(); }
MonotonicTime getMonotonicTime() const { return getScheduler().getMonotonicTime(); }
UtcTime getUtcTime() const { return getScheduler().getUtcTime(); }
NodeID getNodeID() const { return getScheduler().getDispatcher().getNodeID(); }
bool setNodeID(NodeID nid)
{
return getScheduler().getDispatcher().setNodeID(nid);
}
int spin(MonotonicTime deadline)
{
return getScheduler().spin(deadline);
}
int spin(MonotonicDuration duration)
{
return getScheduler().spin(getMonotonicTime() + duration);
}
};
}
libuavcan/include/uavcan/node/generic_publisher.hpp
+8 -11
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@@ -4,9 +4,8 @@
#pragma once
#include <uavcan/node/scheduler.hpp>
#include <uavcan/node/abstract_node.hpp>
#include <uavcan/data_type.hpp>
#include <uavcan/node/marshal_buffer.hpp>
#include <uavcan/node/global_data_type_registry.hpp>
#include <uavcan/util/lazy_constructor.hpp>
#include <uavcan/debug.hpp>
@@ -30,8 +29,7 @@ class GenericPublisher
const MonotonicDuration max_transfer_interval_; // TODO: memory usage can be reduced
MonotonicDuration tx_timeout_;
Scheduler& scheduler_;
IMarshalBufferProvider& buffer_provider_;
INode& node_;
LazyConstructor<TransferSender> sender_;
bool checkInit()
@@ -50,15 +48,15 @@ class GenericPublisher
return false;
}
sender_.template construct<Dispatcher&, const DataTypeDescriptor&, CanTxQueue::Qos, MonotonicDuration>
(scheduler_.getDispatcher(), *descr, CanTxQueue::Qos(Qos), max_transfer_interval_);
(node_.getDispatcher(), *descr, CanTxQueue::Qos(Qos), max_transfer_interval_);
return true;
}
MonotonicTime getTxDeadline() const { return scheduler_.getMonotonicTimestamp() + tx_timeout_; }
MonotonicTime getTxDeadline() const { return node_.getMonotonicTime() + tx_timeout_; }
IMarshalBuffer* getBuffer()
{
return buffer_provider_.getBuffer(BitLenToByteLen<DataStruct::MaxBitLen>::Result);
return node_.getMarshalBufferProvider().getBuffer(BitLenToByteLen<DataStruct::MaxBitLen>::Result);
}
int genericPublish(const DataStruct& message, TransferType transfer_type, NodeID dst_node_id,
@@ -94,12 +92,11 @@ class GenericPublisher
}
public:
GenericPublisher(Scheduler& scheduler, IMarshalBufferProvider& buffer_provider, MonotonicDuration tx_timeout,
GenericPublisher(INode& node, MonotonicDuration tx_timeout,
MonotonicDuration max_transfer_interval = TransferSender::getDefaultMaxTransferInterval())
: max_transfer_interval_(max_transfer_interval)
, tx_timeout_(tx_timeout)
, scheduler_(scheduler)
, buffer_provider_(buffer_provider)
, node_(node)
{
setTxTimeout(tx_timeout);
#if UAVCAN_DEBUG
@@ -132,7 +129,7 @@ public:
tx_timeout_ = tx_timeout;
}
Scheduler& getScheduler() const { return scheduler_; }
INode& getNode() const { return node_; }
};
}
libuavcan/include/uavcan/node/generic_subscriber.hpp
+11 -12
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@@ -4,7 +4,7 @@
#pragma once
#include <uavcan/node/scheduler.hpp>
#include <uavcan/node/abstract_node.hpp>
#include <uavcan/data_type.hpp>
#include <uavcan/node/global_data_type_registry.hpp>
#include <uavcan/util/compile_time.hpp>
@@ -107,8 +107,7 @@ class GenericSubscriber : Noncopyable
using ReceivedDataStructure<DataStruct>::setTransfer;
};
Scheduler& scheduler_;
IAllocator& allocator_;
INode& node_;
LazyConstructor<TransferForwarder> forwarder_;
ReceivedDataStructureSpec message_;
uint32_t failure_count_;
@@ -128,7 +127,8 @@ class GenericSubscriber : Noncopyable
UAVCAN_TRACE("GenericSubscriber", "Type [%s] is not registered", DataSpec::getDataTypeFullName());
return false;
}
forwarder_.template construct<SelfType&, const DataTypeDescriptor&, IAllocator&>(*this, *descr, allocator_);
forwarder_.template construct<SelfType&, const DataTypeDescriptor&, IAllocator&>
(*this, *descr, node_.getAllocator());
return true;
}
@@ -170,7 +170,7 @@ class GenericSubscriber : Noncopyable
return -1;
}
if (!(scheduler_.getDispatcher().*registration_method)(forwarder_))
if (!(node_.getDispatcher().*registration_method)(forwarder_))
{
UAVCAN_TRACE("GenericSubscriber", "Failed to register transfer listener [%s]",
DataSpec::getDataTypeFullName());
@@ -180,9 +180,8 @@ class GenericSubscriber : Noncopyable
}
protected:
GenericSubscriber(Scheduler& scheduler, IAllocator& allocator)
: scheduler_(scheduler)
, allocator_(allocator)
explicit GenericSubscriber(INode& node)
: node_(node)
, failure_count_(0)
{ }
@@ -209,9 +208,9 @@ protected:
{
if (forwarder_)
{
scheduler_.getDispatcher().unregisterMessageListener(forwarder_);
scheduler_.getDispatcher().unregisterServiceRequestListener(forwarder_);
scheduler_.getDispatcher().unregisterServiceResponseListener(forwarder_);
node_.getDispatcher().unregisterMessageListener(forwarder_);
node_.getDispatcher().unregisterServiceRequestListener(forwarder_);
node_.getDispatcher().unregisterServiceResponseListener(forwarder_);
}
}
@@ -222,7 +221,7 @@ protected:
ReceivedDataStructure<DataStruct>& getReceivedStructStorage() { return message_; }
public:
Scheduler& getScheduler() const { return scheduler_; }
INode& getNode() const { return node_; }
};
}
libuavcan/include/uavcan/node/publisher.hpp
+4 -5
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@@ -17,10 +17,9 @@ class Publisher : protected GenericPublisher<DataType_, DataType_>
public:
typedef DataType_ DataType;
Publisher(Scheduler& scheduler, IMarshalBufferProvider& buffer_provider,
MonotonicDuration tx_timeout = getDefaultTxTimeout(),
MonotonicDuration max_transfer_interval = TransferSender::getDefaultMaxTransferInterval())
: BaseType(scheduler, buffer_provider, tx_timeout, max_transfer_interval)
explicit Publisher(INode& node, MonotonicDuration tx_timeout = getDefaultTxTimeout(),
MonotonicDuration max_transfer_interval = TransferSender::getDefaultMaxTransferInterval())
: BaseType(node, tx_timeout, max_transfer_interval)
{
#if UAVCAN_DEBUG
assert(getTxTimeout() == tx_timeout); // Making sure default values are OK
@@ -49,7 +48,7 @@ public:
using BaseType::getMaxTxTimeout;
using BaseType::getTxTimeout;
using BaseType::setTxTimeout;
using BaseType::getScheduler;
using BaseType::getNode;
};
}
libuavcan/include/uavcan/node/scheduler.hpp
+10 -9
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@@ -26,7 +26,7 @@ protected:
virtual ~DeadlineHandler() { stop(); }
public:
virtual void handleDeadline(MonotonicTime current_timestamp) = 0;
virtual void handleDeadline(MonotonicTime current) = 0;
void startWithDeadline(MonotonicTime deadline);
void startWithDelay(MonotonicDuration delay);
@@ -50,7 +50,7 @@ public:
bool doesExist(const DeadlineHandler* mdh) const;
unsigned int getNumHandlers() const { return handlers_.getLength(); }
MonotonicTime pollAndGetMonotonicTimestamp(ISystemClock& sysclock);
MonotonicTime pollAndGetMonotonicTime(ISystemClock& sysclock);
MonotonicTime getEarliestDeadline() const;
};
@@ -75,9 +75,8 @@ class Scheduler : Noncopyable
void pollCleanup(MonotonicTime mono_ts, uint32_t num_frames_processed_with_last_spin);
public:
Scheduler(ICanDriver& can_driver, IAllocator& allocator, ISystemClock& sysclock, IOutgoingTransferRegistry& otr,
NodeID self_node_id)
: dispatcher_(can_driver, allocator, sysclock, otr, self_node_id)
Scheduler(ICanDriver& can_driver, IAllocator& allocator, ISystemClock& sysclock, IOutgoingTransferRegistry& otr)
: dispatcher_(can_driver, allocator, sysclock, otr)
, prev_cleanup_ts_(sysclock.getMonotonic())
, deadline_resolution_(MonotonicDuration::fromMSec(DefaultDeadlineResolutionMs))
, cleanup_period_(MonotonicDuration::fromMSec(DefaultCleanupPeriodMs))
@@ -86,11 +85,13 @@ public:
int spin(MonotonicTime deadline);
DeadlineScheduler& getDeadlineScheduler() { return deadline_scheduler_; }
Dispatcher& getDispatcher() { return dispatcher_; }
ISystemClock& getSystemClock() { return dispatcher_.getSystemClock(); }
MonotonicTime getMonotonicTimestamp() const { return dispatcher_.getSystemClock().getMonotonic(); }
UtcTime getUtcTimestamp() const { return dispatcher_.getSystemClock().getUtc(); }
Dispatcher& getDispatcher() { return dispatcher_; }
const Dispatcher& getDispatcher() const { return dispatcher_; }
ISystemClock& getSystemClock() { return dispatcher_.getSystemClock(); }
MonotonicTime getMonotonicTime() const { return dispatcher_.getSystemClock().getMonotonic(); }
UtcTime getUtcTime() const { return dispatcher_.getSystemClock().getUtc(); }
MonotonicDuration getDeadlineResolution() const { return deadline_resolution_; }
void setDeadlineResolution(MonotonicDuration res)
libuavcan/include/uavcan/node/service_client.hpp
+6 -9
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@@ -73,7 +73,6 @@ private:
typedef GenericSubscriber<DataType, ResponseType, TransferListenerType> SubscriberType;
PublisherType publisher_;
IAllocator& allocator_;
Callback callback_;
MonotonicDuration request_timeout_;
bool pending_;
@@ -128,12 +127,10 @@ private:
}
public:
ServiceClient(Scheduler& scheduler, IAllocator& allocator, IMarshalBufferProvider& buffer_provider,
const Callback& callback = Callback())
: SubscriberType(scheduler, allocator)
, DeadlineHandler(scheduler)
, publisher_(scheduler, buffer_provider, getDefaultRequestTimeout())
, allocator_(allocator)
explicit ServiceClient(INode& node, const Callback& callback = Callback())
: SubscriberType(node)
, DeadlineHandler(node.getScheduler())
, publisher_(node, getDefaultRequestTimeout())
, callback_(callback)
, request_timeout_(getDefaultRequestTimeout())
, pending_(false)
@@ -177,8 +174,8 @@ public:
*/
const OutgoingTransferRegistryKey otr_key(descr->getID(), TransferTypeServiceRequest, server_node_id);
const MonotonicTime otr_deadline =
SubscriberType::getScheduler().getMonotonicTimestamp() + TransferSender::getDefaultMaxTransferInterval();
TransferID* const otr_tid = SubscriberType::getScheduler().getDispatcher().getOutgoingTransferRegistry()
SubscriberType::getNode().getMonotonicTime() + TransferSender::getDefaultMaxTransferInterval();
TransferID* const otr_tid = SubscriberType::getNode().getDispatcher().getOutgoingTransferRegistry()
.accessOrCreate(otr_key, otr_deadline);
if (!otr_tid)
{
libuavcan/include/uavcan/node/service_server.hpp
+3 -3
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@@ -57,9 +57,9 @@ private:
}
public:
ServiceServer(Scheduler& scheduler, IAllocator& allocator, IMarshalBufferProvider& buffer_provider)
: SubscriberType(scheduler, allocator)
, publisher_(scheduler, buffer_provider, getDefaultTxTimeout())
explicit ServiceServer(INode& node)
: SubscriberType(node)
, publisher_(node, getDefaultTxTimeout())
, callback_()
, response_failure_count_(0)
{
libuavcan/include/uavcan/node/subscriber.hpp
+2 -2
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@@ -36,8 +36,8 @@ class Subscriber : public GenericSubscriber<DataType_, DataType_,
public:
typedef DataType_ DataType;
Subscriber(Scheduler& scheduler, IAllocator& allocator)
: BaseType(scheduler, allocator)
explicit Subscriber(INode& node)
: BaseType(node)
, callback_()
{
StaticAssert<DataTypeKind(DataType::DataTypeKind) == DataTypeKindMessage>::check();
libuavcan/include/uavcan/node/timer.hpp
+1 -1
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@@ -31,7 +31,7 @@ class Timer : private DeadlineHandler
{
MonotonicDuration period_;
void handleDeadline(MonotonicTime current_timestamp);
void handleDeadline(MonotonicTime current);
public:
using DeadlineHandler::stop;
libuavcan/include/uavcan/transport/dispatcher.hpp
+4 -5
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@@ -51,17 +51,15 @@ class Dispatcher : Noncopyable
ListenerRegister lsrv_req_;
ListenerRegister lsrv_resp_;
const NodeID self_node_id_;
NodeID self_node_id_;
void handleFrame(const CanRxFrame& can_frame);
public:
Dispatcher(ICanDriver& driver, IAllocator& allocator, ISystemClock& sysclock, IOutgoingTransferRegistry& otr,
NodeID self_node_id)
Dispatcher(ICanDriver& driver, IAllocator& allocator, ISystemClock& sysclock, IOutgoingTransferRegistry& otr)
: canio_(driver, allocator, sysclock)
, sysclock_(sysclock)
, outgoing_transfer_reg_(otr)
, self_node_id_(self_node_id)
{ }
int spin(MonotonicTime deadline);
@@ -87,7 +85,8 @@ public:
IOutgoingTransferRegistry& getOutgoingTransferRegistry() { return outgoing_transfer_reg_; }
NodeID getSelfNodeID() const { return self_node_id_; }
NodeID getNodeID() const { return self_node_id_; }
bool setNodeID(NodeID nid);
const ISystemClock& getSystemClock() const { return sysclock_; }
ISystemClock& getSystemClock() { return sysclock_; }