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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/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;
};
}