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Optimized NodeDiscoverer - picking any node to query, without any preference

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This commit is contained in:
Pavel Kirienko
2015-05-24 17:21:26 +03:00
parent 11161e7b1f
commit 73273ab06d
1 changed files with 3 additions and 28 deletions
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libuavcan/include/uavcan/protocol/dynamic_node_id_server/node_discoverer.hpp
+3 -28
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@@ -86,27 +86,6 @@ class NodeDiscoverer : TimerBase
typedef Map<NodeID, NodeData, 10> NodeMap;
class HighestUptimeSearcher : ::uavcan::Noncopyable
{
uint32_t highest_uptime_sec_;
NodeID node_id_;
public:
HighestUptimeSearcher() : highest_uptime_sec_(0) { }
bool operator()(const NodeID& key, const NodeData& value)
{
if (value.last_seen_uptime >= highest_uptime_sec_)
{
highest_uptime_sec_ = value.last_seen_uptime;
node_id_ = key;
}
return false;
}
NodeID getNodeWithHighestUptime() const { return node_id_; }
};
/**
* When this number of attempts has been made, the discoverer will give up and assume that the node
* does not implement this service.
@@ -144,13 +123,9 @@ class NodeDiscoverer : TimerBase
NodeID pickNextNodeToQuery() const
{
HighestUptimeSearcher searcher;
const NodeID* const out = node_map_.find<HighestUptimeSearcher&>(searcher);
(void)out;
UAVCAN_ASSERT(out == NULL);
return searcher.getNodeWithHighestUptime();
// This essentially means that we pick first available node. Remember that the map is unordered.
const NodeMap::KVPair* const pair = node_map_.getByIndex(0);
return (pair == NULL) ? NodeID() : pair->key;
}
bool needToQuery(NodeID node_id)