Space optimized GenericPublisher

2026-10-21 18:13:35 +08:00 · 2014-04-09 16:38:49 +04:00
parent 5bd2f0ea74
commit 72425b712a
2 changed files with 178 additions and 96 deletions
@@ -0,0 +1,72 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#include <uavcan/node/generic_publisher.hpp>
+
+namespace uavcan
+{
+
+bool GenericPublisherBase::isInited() const
+{
+    return bool(sender_);
+}
+
+int GenericPublisherBase::doInit(DataTypeKind dtkind, const char* dtname, CanTxQueue::Qos qos)
+{
+    if (isInited())
+    {
+        return 0;
+    }
+
+    GlobalDataTypeRegistry::instance().freeze();
+
+    const DataTypeDescriptor* const descr = GlobalDataTypeRegistry::instance().find(dtkind, dtname);
+    if (!descr)
+    {
+        UAVCAN_TRACE("GenericPublisher", "Type [%s] is not registered", dtname);
+        return -ErrUnknownDataType;
+    }
+    sender_.construct<Dispatcher&, const DataTypeDescriptor&, CanTxQueue::Qos, MonotonicDuration>
+        (node_.getDispatcher(), *descr, qos, max_transfer_interval_);
+    return 0;
+}
+
+MonotonicTime GenericPublisherBase::getTxDeadline() const
+{
+    return node_.getMonotonicTime() + tx_timeout_;
+}
+
+IMarshalBuffer* GenericPublisherBase::getBuffer(unsigned byte_len)
+{
+    return node_.getMarshalBufferProvider().getBuffer(byte_len);
+}
+
+int GenericPublisherBase::genericPublish(const IMarshalBuffer& buffer, TransferType transfer_type, NodeID dst_node_id,
+                                         TransferID* tid, MonotonicTime blocking_deadline)
+{
+    if (tid)
+    {
+        return sender_->send(buffer.getDataPtr(), buffer.getDataLength(), getTxDeadline(),
+                             blocking_deadline, transfer_type, dst_node_id, *tid);
+    }
+    else
+    {
+        return sender_->send(buffer.getDataPtr(), buffer.getDataLength(), getTxDeadline(),
+                             blocking_deadline, transfer_type, dst_node_id);
+    }
+}
+
+TransferSender* GenericPublisherBase::getTransferSender()
+{
+    return sender_.isConstructed() ? static_cast<TransferSender*>(sender_) : NULL;
+}
+
+void GenericPublisherBase::setTxTimeout(MonotonicDuration tx_timeout)
+{
+    tx_timeout = std::max(tx_timeout, getMinTxTimeout());
+    tx_timeout = std::min(tx_timeout, getMaxTxTimeout());
+    tx_timeout_ = tx_timeout;
+}
+
+}