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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
Download Patch File Download Diff File Expand all files Collapse all files
libuavcan/src/node/scheduler.cpp
+4 -4
View File
@@ -21,7 +21,7 @@ void DeadlineHandler::startWithDeadline(MonotonicTime deadline)
void DeadlineHandler::startWithDelay(MonotonicDuration delay)
{
startWithDeadline(scheduler_.getMonotonicTimestamp() + delay);
startWithDeadline(scheduler_.getMonotonicTime() + delay);
}
void DeadlineHandler::stop()
@@ -80,7 +80,7 @@ bool DeadlineScheduler::doesExist(const DeadlineHandler* mdh) const
return false;
}
MonotonicTime DeadlineScheduler::pollAndGetMonotonicTimestamp(ISystemClock& sysclock)
MonotonicTime DeadlineScheduler::pollAndGetMonotonicTime(ISystemClock& sysclock)
{
while (true)
{
@@ -117,7 +117,7 @@ MonotonicTime DeadlineScheduler::getEarliestDeadline() const
MonotonicTime Scheduler::computeDispatcherSpinDeadline(MonotonicTime spin_deadline) const
{
const MonotonicTime earliest = std::min(deadline_scheduler_.getEarliestDeadline(), spin_deadline);
const MonotonicTime ts = getMonotonicTimestamp();
const MonotonicTime ts = getMonotonicTime();
if (earliest > ts)
{
if (ts - earliest > deadline_resolution_)
@@ -148,7 +148,7 @@ int Scheduler::spin(MonotonicTime deadline)
if (retval < 0)
break;
const MonotonicTime ts = deadline_scheduler_.pollAndGetMonotonicTimestamp(getSystemClock());
const MonotonicTime ts = deadline_scheduler_.pollAndGetMonotonicTime(getSystemClock());
pollCleanup(ts, retval);
if (ts >= deadline)
break;
libuavcan/src/node/timer.cpp
+2 -2
View File
@@ -8,7 +8,7 @@
namespace uavcan
{
void Timer::handleDeadline(MonotonicTime current_timestamp)
void Timer::handleDeadline(MonotonicTime current)
{
assert(!isRunning());
@@ -18,7 +18,7 @@ void Timer::handleDeadline(MonotonicTime current_timestamp)
startWithDeadline(scheduled_time + period_);
// Application can re-register the timer with different params, it's OK
handleTimerEvent(TimerEvent(scheduled_time, current_timestamp));
handleTimerEvent(TimerEvent(scheduled_time, current));
}
void Timer::startOneShotWithDeadline(MonotonicTime deadline)
libuavcan/src/transport/dispatcher.cpp
+12 -2
View File
@@ -69,7 +69,7 @@ void Dispatcher::handleFrame(const CanRxFrame& can_frame)
}
if ((frame.getDstNodeID() != NodeID::Broadcast) &&
(frame.getDstNodeID() != getSelfNodeID()))
(frame.getDstNodeID() != getNodeID()))
{
return;
}
@@ -117,7 +117,7 @@ int Dispatcher::spin(MonotonicTime deadline)
int Dispatcher::send(const Frame& frame, MonotonicTime tx_deadline, MonotonicTime blocking_deadline,
CanTxQueue::Qos qos)
{
if (frame.getSrcNodeID() != getSelfNodeID())
if (frame.getSrcNodeID() != getNodeID())
{
assert(0);
return -1;
@@ -188,4 +188,14 @@ void Dispatcher::unregisterServiceResponseListener(TransferListenerBase* listene
lsrv_resp_.remove(listener);
}
bool Dispatcher::setNodeID(NodeID nid)
{
if (nid.isUnicast() && !self_node_id_.isValid())
{
self_node_id_ = nid;
return true;
}
return false;
}
}
libuavcan/src/transport/transfer_sender.cpp
+1 -1
View File
@@ -14,7 +14,7 @@ int TransferSender::send(const uint8_t* payload, int payload_len, MonotonicTime
MonotonicTime blocking_deadline, TransferType transfer_type, NodeID dst_node_id,
TransferID tid)
{
Frame frame(data_type_.getID(), transfer_type, dispatcher_.getSelfNodeID(), dst_node_id, 0, tid);
Frame frame(data_type_.getID(), transfer_type, dispatcher_.getNodeID(), dst_node_id, 0, tid);
if (frame.getMaxPayloadLen() >= payload_len) // Single Frame Transfer
{