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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/transport/dispatcher.hpp
+4 -5
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@@ -51,17 +51,15 @@ class Dispatcher : Noncopyable
ListenerRegister lsrv_req_;
ListenerRegister lsrv_resp_;
const NodeID self_node_id_;
NodeID self_node_id_;
void handleFrame(const CanRxFrame& can_frame);
public:
Dispatcher(ICanDriver& driver, IAllocator& allocator, ISystemClock& sysclock, IOutgoingTransferRegistry& otr,
NodeID self_node_id)
Dispatcher(ICanDriver& driver, IAllocator& allocator, ISystemClock& sysclock, IOutgoingTransferRegistry& otr)
: canio_(driver, allocator, sysclock)
, sysclock_(sysclock)
, outgoing_transfer_reg_(otr)
, self_node_id_(self_node_id)
{ }
int spin(MonotonicTime deadline);
@@ -87,7 +85,8 @@ public:
IOutgoingTransferRegistry& getOutgoingTransferRegistry() { return outgoing_transfer_reg_; }
NodeID getSelfNodeID() const { return self_node_id_; }
NodeID getNodeID() const { return self_node_id_; }
bool setNodeID(NodeID nid);
const ISystemClock& getSystemClock() const { return sysclock_; }
ISystemClock& getSystemClock() { return sysclock_; }