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Naming cleanup

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This commit is contained in:
Pavel Kirienko
2015-05-06 18:01:27 +03:00
parent 2273df059a
commit 6ae48c25cb
2 changed files with 50 additions and 59 deletions
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libuavcan/include/uavcan/protocol/dynamic_node_id_allocation_server.hpp
+35 -43
View File
@@ -75,10 +75,13 @@ public:
*/
namespace dynamic_node_id_server_impl
{
using namespace protocol::dynamic_node_id::server;
/**
* Raft term
*/
typedef StorageType<protocol::dynamic_node_id::server::Entry::FieldTypes::term>::Type Term;
typedef StorageType<Entry::FieldTypes::term>::Type Term;
/**
* This class extends the storage backend interface with serialization/deserialization functionality.
@@ -106,7 +109,7 @@ public:
*/
int setAndGetBack(const IDynamicNodeIDStorageBackend::String& key, uint32_t& inout_value);
int setAndGetBack(const IDynamicNodeIDStorageBackend::String& key,
protocol::dynamic_node_id::server::Entry::FieldTypes::unique_id& inout_value);
Entry::FieldTypes::unique_id& inout_value);
/**
* Getters simply read and deserialize the value.
@@ -117,7 +120,7 @@ public:
*/
int get(const IDynamicNodeIDStorageBackend::String& key, uint32_t& out_value) const;
int get(const IDynamicNodeIDStorageBackend::String& key,
protocol::dynamic_node_id::server::Entry::FieldTypes::unique_id& out_value) const;
Entry::FieldTypes::unique_id& out_value) const;
};
/**
@@ -134,14 +137,14 @@ public:
private:
IDynamicNodeIDStorageBackend& storage_;
protocol::dynamic_node_id::server::Entry entries_[Capacity];
Entry entries_[Capacity];
Index last_index_; // Index zero always contains an empty entry
static IDynamicNodeIDStorageBackend::String getLastIndexKey() { return "log_last_index"; }
static IDynamicNodeIDStorageBackend::String makeEntryKey(Index index, const char* postfix);
int readEntryFromStorage(Index index, protocol::dynamic_node_id::server::Entry& out_entry);
int writeEntryToStorage(Index index, const protocol::dynamic_node_id::server::Entry& entry);
int readEntryFromStorage(Index index, Entry& out_entry);
int writeEntryToStorage(Index index, const Entry& entry);
int initEmptyLogStorage();
@@ -165,7 +168,7 @@ public:
* This method invokes storage IO.
* Returned value indicates whether the entry was successfully appended.
*/
int append(const protocol::dynamic_node_id::server::Entry& entry);
int append(const Entry& entry);
/**
* This method invokes storage IO.
@@ -177,7 +180,7 @@ public:
* Returns nullptr if there's no such index.
* This method does not use storage IO.
*/
const protocol::dynamic_node_id::server::Entry* getEntryAtIndex(Index index) const;
const Entry* getEntryAtIndex(Index index) const;
Index getLastIndex() const { return last_index_; }
@@ -234,7 +237,7 @@ class ClusterManager : private TimerBase
{
typedef MethodBinder<ClusterManager*,
void (ClusterManager::*)
(const ReceivedDataStructure<protocol::dynamic_node_id::server::Discovery>&)>
(const ReceivedDataStructure<Discovery>&)>
DiscoveryCallback;
struct Server
@@ -251,13 +254,13 @@ class ClusterManager : private TimerBase
void resetIndices(const Log& log);
};
enum { MaxServers = protocol::dynamic_node_id::server::Discovery::FieldTypes::known_nodes::MaxSize };
enum { MaxServers = Discovery::FieldTypes::known_nodes::MaxSize };
IDynamicNodeIDStorageBackend& storage_;
const Log& log_;
Subscriber<protocol::dynamic_node_id::server::Discovery, DiscoveryCallback> discovery_sub_;
mutable Publisher<protocol::dynamic_node_id::server::Discovery> discovery_pub_;
Subscriber<Discovery, DiscoveryCallback> discovery_sub_;
mutable Publisher<Discovery> discovery_pub_;
Server servers_[MaxServers - 1]; ///< Minus one because the local server is not listed there.
@@ -278,7 +281,7 @@ class ClusterManager : private TimerBase
virtual void handleTimerEvent(const TimerEvent&);
void handleDiscovery(const ReceivedDataStructure<protocol::dynamic_node_id::server::Discovery>& msg);
void handleDiscovery(const ReceivedDataStructure<Discovery>& msg);
void startDiscoveryPublishingTimerIfNotRunning();
@@ -359,24 +362,18 @@ public:
*/
class RaftCore : private TimerBase
{
typedef MethodBinder<RaftCore*,
void (RaftCore::*)
(const protocol::dynamic_node_id::server::AppendEntries::Request&,
protocol::dynamic_node_id::server::AppendEntries::Response&)> AppendEntriesCallback;
typedef MethodBinder<RaftCore*, void (RaftCore::*)(const ReceivedDataStructure<AppendEntries::Request>&,
ServiceResponseDataStructure<AppendEntries::Response>&)>
AppendEntriesCallback;
typedef MethodBinder<RaftCore*,
void (RaftCore::*)
(const protocol::dynamic_node_id::server::RequestVote::Request&,
protocol::dynamic_node_id::server::RequestVote::Response&)> RequestVoteCallback;
typedef MethodBinder<RaftCore*, void (RaftCore::*)(const ReceivedDataStructure<RequestVote::Request>&,
ServiceResponseDataStructure<RequestVote::Response>&)>
RequestVoteCallback;
typedef MethodBinder<RaftCore*,
void (RaftCore::*)
(const ServiceCallResult<protocol::dynamic_node_id::server::AppendEntries>&)>
typedef MethodBinder<RaftCore*, void (RaftCore::*)(const ServiceCallResult<AppendEntries>&)>
AppendEntriesResponseCallback;
typedef MethodBinder<RaftCore*,
void (RaftCore::*)
(const ServiceCallResult<protocol::dynamic_node_id::server::RequestVote>&)>
typedef MethodBinder<RaftCore*, void (RaftCore::*)(const ServiceCallResult<RequestVote>&)>
RequestVoteResponseCallback;
enum ServerState
@@ -386,24 +383,20 @@ class RaftCore : private TimerBase
ServerStateLeader
};
dynamic_node_id_server_impl::PersistentState persistent_state_;
dynamic_node_id_server_impl::Log::Index commit_index_;
dynamic_node_id_server_impl::ClusterManager cluster_;
PersistentState persistent_state_;
Log::Index commit_index_;
ClusterManager cluster_;
MonotonicTime last_activity_timestamp_;
bool active_mode_;
ServerState server_state_;
ServiceServer<protocol::dynamic_node_id::server::AppendEntries, AppendEntriesCallback> append_entries_srv_;
ServiceServer<protocol::dynamic_node_id::server::RequestVote, RequestVoteCallback> request_vote_srv_;
ServiceServer<AppendEntries, AppendEntriesCallback> append_entries_srv_;
ServiceServer<RequestVote, RequestVoteCallback> request_vote_srv_;
ServiceClient<protocol::dynamic_node_id::server::AppendEntries,
AppendEntriesResponseCallback> append_entries_client_;
ServiceClient<protocol::dynamic_node_id::server::RequestVote,
RequestVoteResponseCallback> request_vote_client_;
ServiceClient<AppendEntries, AppendEntriesResponseCallback> append_entries_client_;
ServiceClient<RequestVote, RequestVoteResponseCallback> request_vote_client_;
virtual void handleTimerEvent(const TimerEvent&);
@@ -431,17 +424,17 @@ public:
* Inserts one entry into log. This operation may fail, which will not be reported.
* Failures are tolerble because all operations are idempotent.
*/
void appendLog(const protocol::dynamic_node_id::server::Entry& entry);
void appendLog(const Entry& entry);
/**
* This class is used to perform log searches.
*/
struct LogEntryInfo
{
protocol::dynamic_node_id::server::Entry entry;
Entry entry;
bool committed;
LogEntryInfo(const protocol::dynamic_node_id::server::Entry& arg_entry, bool arg_committed)
LogEntryInfo(const Entry& arg_entry, bool arg_committed)
: entry(arg_entry)
, committed(arg_committed)
{ }
@@ -462,8 +455,7 @@ public:
UAVCAN_ASSERT(try_implicit_cast<bool>(predicate, true));
for (int index = static_cast<int>(persistent_state_.getLog().getLastIndex()); index--; index >= 0)
{
const protocol::dynamic_node_id::server::Entry* const entry =
persistent_state_.getLog().getEntryAtIndex(Log::Index(index));
const Entry* const entry = persistent_state_.getLog().getEntryAtIndex(Log::Index(index));
UAVCAN_ASSERT(entry != NULL);
const LogEntryInfo info(*entry, Log::Index(index) <= commit_index_);
if (predicate(info))
libuavcan/src/protocol/uc_dynamic_node_id_allocation_server.cpp
+15 -16
View File
@@ -39,14 +39,14 @@ int MarshallingStorageDecorator::setAndGetBack(const IDynamicNodeIDStorageBacken
}
int MarshallingStorageDecorator::setAndGetBack(const IDynamicNodeIDStorageBackend::String& key,
protocol::dynamic_node_id::server::Entry::FieldTypes::unique_id& inout_value)
Entry::FieldTypes::unique_id& inout_value)
{
IDynamicNodeIDStorageBackend::String serialized;
for (uint8_t i = 0; i < protocol::dynamic_node_id::server::Entry::FieldTypes::unique_id::MaxSize; i++)
for (uint8_t i = 0; i < Entry::FieldTypes::unique_id::MaxSize; i++)
{
serialized.appendFormatted("%02x", inout_value.at(i));
}
UAVCAN_ASSERT(serialized.size() == protocol::dynamic_node_id::server::Entry::FieldTypes::unique_id::MaxSize * 2);
UAVCAN_ASSERT(serialized.size() == Entry::FieldTypes::unique_id::MaxSize * 2);
UAVCAN_TRACE("MarshallingStorageDecorator", "Set %s = %s", key.c_str(), serialized.c_str());
storage_.set(key, serialized);
@@ -109,9 +109,9 @@ int MarshallingStorageDecorator::get(const IDynamicNodeIDStorageBackend::String&
}
int MarshallingStorageDecorator::get(const IDynamicNodeIDStorageBackend::String& key,
protocol::dynamic_node_id::server::Entry::FieldTypes::unique_id& out_value) const
Entry::FieldTypes::unique_id& out_value) const
{
static const uint8_t NumBytes = protocol::dynamic_node_id::server::Entry::FieldTypes::unique_id::MaxSize;
static const uint8_t NumBytes = Entry::FieldTypes::unique_id::MaxSize;
/*
* Reading the storage
@@ -164,7 +164,7 @@ IDynamicNodeIDStorageBackend::String Log::makeEntryKey(Index index, const char*
return str;
}
int Log::readEntryFromStorage(Index index, protocol::dynamic_node_id::server::Entry& out_entry)
int Log::readEntryFromStorage(Index index, Entry& out_entry)
{
const MarshallingStorageDecorator io(storage_);
@@ -195,9 +195,9 @@ int Log::readEntryFromStorage(Index index, protocol::dynamic_node_id::server::En
return 0;
}
int Log::writeEntryToStorage(Index index, const protocol::dynamic_node_id::server::Entry& entry)
int Log::writeEntryToStorage(Index index, const Entry& entry)
{
protocol::dynamic_node_id::server::Entry temp = entry;
Entry temp = entry;
MarshallingStorageDecorator io(storage_);
@@ -231,7 +231,7 @@ int Log::initEmptyLogStorage()
/*
* Writing the zero entry - it must always be default-initialized
*/
entries_[0] = protocol::dynamic_node_id::server::Entry();
entries_[0] = Entry();
int res = writeEntryToStorage(0, entries_[0]);
if (res < 0)
{
@@ -302,7 +302,7 @@ int Log::init()
return 0;
}
int Log::append(const protocol::dynamic_node_id::server::Entry& entry)
int Log::append(const Entry& entry)
{
if ((last_index_ + 1) >= Capacity)
{
@@ -364,7 +364,7 @@ int Log::removeEntriesWhereIndexGreaterOrEqual(Index index)
return 0;
}
const protocol::dynamic_node_id::server::Entry* Log::getEntryAtIndex(Index index) const
const Entry* Log::getEntryAtIndex(Index index) const
{
UAVCAN_ASSERT(last_index_ < Capacity);
return (index <= last_index_) ? &entries_[index] : NULL;
@@ -397,7 +397,7 @@ int PersistentState::init()
return res;
}
const protocol::dynamic_node_id::server::Entry* const last_entry = log_.getEntryAtIndex(log_.getLastIndex());
const Entry* const last_entry = log_.getEntryAtIndex(log_.getLastIndex());
if (last_entry == NULL)
{
UAVCAN_ASSERT(0);
@@ -603,7 +603,7 @@ void ClusterManager::handleTimerEvent(const TimerEvent&)
/*
* Filling the message
*/
protocol::dynamic_node_id::server::Discovery msg;
Discovery msg;
msg.configured_cluster_size = cluster_size_;
msg.known_nodes.push_back(getNode().getNodeID().get()); // Putting ourselves at index 0
@@ -639,7 +639,7 @@ void ClusterManager::handleTimerEvent(const TimerEvent&)
}
}
void ClusterManager::handleDiscovery(const ReceivedDataStructure<protocol::dynamic_node_id::server::Discovery>& msg)
void ClusterManager::handleDiscovery(const ReceivedDataStructure<Discovery>& msg)
{
/*
* Validating cluster configuration
@@ -683,8 +683,7 @@ void ClusterManager::startDiscoveryPublishingTimerIfNotRunning()
{
if (!isRunning())
{
startPeriodic(
MonotonicDuration::fromMSec(protocol::dynamic_node_id::server::Discovery::BROADCASTING_INTERVAL_MS));
startPeriodic(MonotonicDuration::fromMSec(Discovery::BROADCASTING_INTERVAL_MS));
}
}