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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/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)