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Proper allocation logic with basic test

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This commit is contained in:
Pavel Kirienko
2015-05-08 23:12:57 +03:00
parent aca9fcb12c
commit 69c361e259
3 changed files with 203 additions and 7 deletions
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libuavcan/include/uavcan/protocol/dynamic_node_id_allocation_server.hpp
+18 -4
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@@ -460,6 +460,11 @@ public:
*/
virtual void onEntryCommitted(const Entry& entry) = 0;
/**
* Assume false by default.
*/
virtual void onLeaderChange(bool local_node_is_leader) = 0;
virtual ~ILeaderLogCommitHandler() { }
};
@@ -655,7 +660,7 @@ public:
inline LazyConstructor<LogEntryInfo> traverseLogFromEndUntil(const Predicate& predicate) const
{
UAVCAN_ASSERT(try_implicit_cast<bool>(predicate, true));
for (int index = static_cast<int>(persistent_state_.getLog().getLastIndex()); index--; index >= 0)
for (int index = static_cast<int>(persistent_state_.getLog().getLastIndex()); index >= 0; index--)
{
const Entry* const entry = persistent_state_.getLog().getEntryAtIndex(Log::Index(index));
UAVCAN_ASSERT(entry != NULL);
@@ -737,8 +742,8 @@ public:
/**
* This class implements the top-level allocation logic and server API.
*/
class DynamicNodeIDAllocationServer : public dynamic_node_id_server_impl::IAllocationRequestHandler
, public dynamic_node_id_server_impl::ILeaderLogCommitHandler
class DynamicNodeIDAllocationServer : private dynamic_node_id_server_impl::IAllocationRequestHandler
, private dynamic_node_id_server_impl::ILeaderLogCommitHandler
{
typedef MethodBinder<DynamicNodeIDAllocationServer*,
void (DynamicNodeIDAllocationServer::*)
@@ -767,10 +772,19 @@ class DynamicNodeIDAllocationServer : public dynamic_node_id_server_impl::IAlloc
INode& getNode() { return get_node_info_client_.getNode(); }
virtual void handleAllocationRequest(const UniqueID& unique_id, NodeID preferred_node_id);
bool isNodeIDTaken(const NodeID node_id) const;
NodeID findFreeNodeID(const NodeID node_id) const;
void allocateNewNode(const UniqueID& unique_id, const NodeID preferred_node_id);
virtual void handleAllocationRequest(const UniqueID& unique_id, const NodeID preferred_node_id);
virtual void onEntryCommitted(const protocol::dynamic_node_id::server::Entry& entry);
virtual void onLeaderChange(bool local_node_is_leader);
void tryPublishAllocationResult(const protocol::dynamic_node_id::server::Entry& entry);
public:
DynamicNodeIDAllocationServer(INode& node,
IDynamicNodeIDStorageBackend& storage,