fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 20:13:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
libuavcan/include/uavcan/node/generic_publisher.hpp
+8 -11
View File
@@ -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_; }
};
}