fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-31 11:01:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

Superrefactoring - all time values were replaced with new safer classes from uavcan/time.hpp; generated types were moved away from anonymous namespaces because this makes it impossible to use a type from different compilation units. Some less vital fixes are to follow - see the next few commits

Browse Source
This commit is contained in:
Pavel Kirienko
2014-03-11 14:41:48 +04:00
parent 633fa9d8bd
commit 65a4dcc2cf
48 changed files with 654 additions and 565 deletions
Download Patch File Download Diff File Expand all files Collapse all files
libuavcan/include/uavcan/internal/node/generic_publisher.hpp
+19 -21
View File
@@ -25,16 +25,11 @@ namespace uavcan
template <typename DataSpec, typename DataStruct>
class GenericPublisher
{
public:
enum { DefaultTxTimeoutUsec = 2500 }; // 2500 ms --> 400Hz max
enum { MinTxTimeoutUsec = 200 };
private:
enum { Qos = (DataTypeKind(DataSpec::DataTypeKind) == DataTypeKindMessage) ?
CanTxQueue::Volatile : CanTxQueue::Persistent };
const uint64_t max_transfer_interval_; // TODO: memory usage can be reduced
uint64_t tx_timeout_;
const MonotonicDuration max_transfer_interval_; // TODO: memory usage can be reduced
MonotonicDuration tx_timeout_;
Scheduler& scheduler_;
IMarshalBufferProvider& buffer_provider_;
LazyConstructor<TransferSender> sender_;
@@ -54,12 +49,12 @@ private:
UAVCAN_TRACE("GenericPublisher", "Type [%s] is not registered", DataSpec::getDataTypeFullName());
return false;
}
sender_.template construct<Dispatcher&, const DataTypeDescriptor&, CanTxQueue::Qos, uint64_t>
sender_.template construct<Dispatcher&, const DataTypeDescriptor&, CanTxQueue::Qos, MonotonicDuration>
(scheduler_.getDispatcher(), *descr, CanTxQueue::Qos(Qos), max_transfer_interval_);
return true;
}
uint64_t getTxDeadline() const { return scheduler_.getMonotonicTimestamp() + tx_timeout_; }
MonotonicTime getTxDeadline() const { return scheduler_.getMonotonicTimestamp() + tx_timeout_; }
IMarshalBuffer* getBuffer()
{
@@ -67,7 +62,7 @@ private:
}
int genericPublish(const DataStruct& message, TransferType transfer_type, NodeID dst_node_id,
TransferID* tid, uint64_t monotonic_blocking_deadline)
TransferID* tid, MonotonicTime blocking_deadline)
{
if (!checkInit())
return -1;
@@ -89,20 +84,20 @@ private:
if (tid)
{
return sender_->send(buf->getDataPtr(), buf->getDataLength(), getTxDeadline(),
monotonic_blocking_deadline, transfer_type, dst_node_id, *tid);
blocking_deadline, transfer_type, dst_node_id, *tid);
}
else
{
return sender_->send(buf->getDataPtr(), buf->getDataLength(), getTxDeadline(),
monotonic_blocking_deadline, transfer_type, dst_node_id);
blocking_deadline, transfer_type, dst_node_id);
}
}
protected:
GenericPublisher(Scheduler& scheduler, IMarshalBufferProvider& buffer_provider,
uint64_t max_transfer_interval = TransferSender::DefaultMaxTransferInterval)
MonotonicDuration max_transfer_interval = TransferSender::getDefaultMaxTransferInterval())
: max_transfer_interval_(max_transfer_interval)
, tx_timeout_(DefaultTxTimeoutUsec)
, tx_timeout_(getDefaultTxTimeout())
, scheduler_(scheduler)
, buffer_provider_(buffer_provider)
{ }
@@ -110,22 +105,25 @@ protected:
~GenericPublisher() { }
int publish(const DataStruct& message, TransferType transfer_type, NodeID dst_node_id,
uint64_t monotonic_blocking_deadline = 0)
MonotonicTime blocking_deadline = MonotonicTime())
{
return genericPublish(message, transfer_type, dst_node_id, NULL, monotonic_blocking_deadline);
return genericPublish(message, transfer_type, dst_node_id, NULL, blocking_deadline);
}
int publish(const DataStruct& message, TransferType transfer_type, NodeID dst_node_id, TransferID tid,
uint64_t monotonic_blocking_deadline = 0)
MonotonicTime blocking_deadline = MonotonicTime())
{
return genericPublish(message, transfer_type, dst_node_id, &tid, monotonic_blocking_deadline);
return genericPublish(message, transfer_type, dst_node_id, &tid, blocking_deadline);
}
public:
uint64_t getTxTimeout() const { return tx_timeout_; }
void setTxTimeout(uint64_t usec)
static MonotonicDuration getDefaultTxTimeout() { return MonotonicDuration::fromUSec(2500); }// 2500ms --> 400Hz max
static MonotonicDuration getMinTxTimeout() { return MonotonicDuration::fromUSec(200); }
MonotonicDuration getTxTimeout() const { return tx_timeout_; }
void setTxTimeout(MonotonicDuration tx_timeout)
{
tx_timeout_ = std::max(usec, uint64_t(MinTxTimeoutUsec));
tx_timeout_ = std::max(tx_timeout, getMinTxTimeout());
}
Scheduler& getScheduler() const { return scheduler_; }