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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/generic_subscriber.hpp
+11 -12
View File
@@ -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_; }
};
}