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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/service_client.hpp
+6 -9
View File
@@ -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)
{