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TransferBufferManager: using TransferBufferManagerKey instead of plain Node ID, this allows to distinguish transfers of different type from the same Node ID, which is necessary for message broadcasting/unicasting

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This commit is contained in:
Pavel Kirienko
2014-02-11 12:21:25 +04:00
parent 149ac87a54
commit 78ff31f9ad
6 changed files with 150 additions and 90 deletions
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libuavcan/include/uavcan/internal/transport/transfer_buffer.hpp
+72 -33
View File
@@ -30,24 +30,63 @@ public:
/**
* Internal for TransferBufferManager
*/
class TransferBufferManagerEntry : public TransferBufferBase, Noncopyable
class TransferBufferManagerKey
{
uint8_t node_id_;
uint8_t transfer_type_;
public:
TransferBufferManagerKey()
: node_id_(NODE_ID_INVALID)
, transfer_type_(TransferType(0))
{
assert(isEmpty());
}
TransferBufferManagerKey(uint8_t node_id, TransferType ttype)
: node_id_(node_id)
, transfer_type_(ttype)
{
assert(node_id <= NODE_ID_MAX && node_id != NODE_ID_INVALID);
assert(!isEmpty());
}
bool operator==(const TransferBufferManagerKey& rhs) const
{
return node_id_ == rhs.node_id_ && transfer_type_ == rhs.transfer_type_;
}
bool isEmpty() const { return node_id_ == NODE_ID_INVALID; }
uint8_t getNodeID() const { return node_id_; }
TransferType getTransferType() const { return TransferType(transfer_type_); }
std::string toString() const;
};
/**
* Internal for TransferBufferManager
*/
class TransferBufferManagerEntry : public TransferBufferBase, Noncopyable
{
TransferBufferManagerKey key_;
protected:
virtual void resetImpl() = 0;
public:
TransferBufferManagerEntry(uint8_t node_id = NODE_ID_INVALID)
: node_id_(node_id)
TransferBufferManagerEntry() { }
TransferBufferManagerEntry(const TransferBufferManagerKey& key)
: key_(key)
{ }
uint8_t getNodeID() const { return node_id_; }
bool isEmpty() const { return node_id_ == NODE_ID_INVALID; }
const TransferBufferManagerKey& getKey() const { return key_; }
bool isEmpty() const { return key_.isEmpty(); }
void reset(uint8_t node_id = NODE_ID_INVALID)
void reset(const TransferBufferManagerKey& key = TransferBufferManagerKey())
{
node_id_ = node_id;
key_ = key;
resetImpl();
}
};
@@ -169,7 +208,7 @@ public:
}
// Resetting self and moving all data from the source
reset(tbme->getNodeID());
reset(tbme->getKey());
const int res = tbme->read(0, data_, SIZE);
if (res < 0)
{
@@ -198,9 +237,9 @@ class ITransferBufferManager
{
public:
virtual ~ITransferBufferManager() { }
virtual TransferBufferBase* access(uint8_t node_id) = 0;
virtual TransferBufferBase* create(uint8_t node_id) = 0;
virtual void remove(uint8_t node_id) = 0;
virtual TransferBufferBase* access(const TransferBufferManagerKey& key) = 0;
virtual TransferBufferBase* create(const TransferBufferManagerKey& key) = 0;
virtual void remove(const TransferBufferManagerKey& key) = 0;
};
/**
@@ -215,24 +254,23 @@ class TransferBufferManager : public ITransferBufferManager, Noncopyable
LinkedListRoot<DynamicTransferBuffer> dynamic_buffers_;
IAllocator* const allocator_;
StaticBufferType* findFirstStatic(uint8_t node_id)
StaticBufferType* findFirstStatic(const TransferBufferManagerKey& key)
{
assert((node_id == NODE_ID_INVALID) || (node_id <= NODE_ID_MAX));
for (unsigned int i = 0; i < NUM_STATIC_BUFS; i++)
{
if (static_buffers_[i].getNodeID() == node_id)
if (static_buffers_[i].getKey() == key)
return static_buffers_ + i;
}
return NULL;
}
DynamicTransferBuffer* findFirstDynamic(uint8_t node_id)
DynamicTransferBuffer* findFirstDynamic(const TransferBufferManagerKey& key)
{
DynamicTransferBuffer* dyn = dynamic_buffers_.get();
while (dyn)
{
assert(!dyn->isEmpty());
if (dyn->getNodeID() == node_id)
if (dyn->getKey() == key)
return dyn;
dyn = dyn->getNextListNode();
}
@@ -243,7 +281,7 @@ class TransferBufferManager : public ITransferBufferManager, Noncopyable
{
while (!dynamic_buffers_.isEmpty())
{
StaticBufferType* const sb = findFirstStatic(NODE_ID_INVALID);
StaticBufferType* const sb = findFirstStatic(TransferBufferManagerKey());
if (sb == NULL)
break;
DynamicTransferBuffer* dyn = dynamic_buffers_.get();
@@ -252,7 +290,8 @@ class TransferBufferManager : public ITransferBufferManager, Noncopyable
if (sb->migrateFrom(dyn))
{
assert(!dyn->isEmpty());
UAVCAN_TRACE("TransferBufferManager", "Storage optimization: Migrated NID %i", int(dyn->getNodeID()));
UAVCAN_TRACE("TransferBufferManager", "Storage optimization: Migrated %s",
dyn->getKey().toString().c_str());
dynamic_buffers_.remove(dyn);
DynamicTransferBuffer::destroy(dyn, allocator_);
}
@@ -262,8 +301,8 @@ class TransferBufferManager : public ITransferBufferManager, Noncopyable
* than STATIC_BUF_SIZE). This means that there is probably something wrong with the network. Logic
* that uses this class should explicitly ensure the proper maximum data size.
*/
UAVCAN_TRACE("TransferBufferManager", "Storage optimization: MIGRATION FAILURE NID %i BUFSIZE %u",
int(dyn->getNodeID()), STATIC_BUF_SIZE);
UAVCAN_TRACE("TransferBufferManager", "Storage optimization: MIGRATION FAILURE %s BUFSIZE %u",
dyn->getKey().toString().c_str(), STATIC_BUF_SIZE);
sb->reset();
break; // Probably we should try to migrate the rest?
}
@@ -300,29 +339,29 @@ public:
return res;
}
TransferBufferBase* access(uint8_t node_id)
TransferBufferBase* access(const TransferBufferManagerKey& key)
{
if (node_id > NODE_ID_MAX || node_id == NODE_ID_INVALID)
if (key.isEmpty())
{
assert(0);
return NULL;
}
TransferBufferManagerEntry* tbme = findFirstStatic(node_id);
TransferBufferManagerEntry* tbme = findFirstStatic(key);
if (tbme)
return tbme;
return findFirstDynamic(node_id);
return findFirstDynamic(key);
}
TransferBufferBase* create(uint8_t node_id)
TransferBufferBase* create(const TransferBufferManagerKey& key)
{
if (node_id > NODE_ID_MAX || node_id == NODE_ID_INVALID)
if (key.isEmpty())
{
assert(0);
return NULL;
}
remove(node_id);
remove(key);
TransferBufferManagerEntry* tbme = findFirstStatic(NODE_ID_INVALID);
TransferBufferManagerEntry* tbme = findFirstStatic(TransferBufferManagerKey());
if (tbme == NULL)
{
DynamicTransferBuffer* dyn = DynamicTransferBuffer::instantiate(allocator_);
@@ -335,16 +374,16 @@ public:
if (tbme)
{
assert(tbme->isEmpty());
tbme->reset(node_id);
tbme->reset(key);
}
return tbme;
}
void remove(uint8_t node_id)
void remove(const TransferBufferManagerKey& key)
{
assert((node_id <= NODE_ID_MAX) && (node_id != NODE_ID_INVALID));
assert(!key.isEmpty());
TransferBufferManagerEntry* const tbme = findFirstStatic(node_id);
TransferBufferManagerEntry* const tbme = findFirstStatic(key);
if (tbme)
{
tbme->reset();
@@ -352,7 +391,7 @@ public:
return;
}
DynamicTransferBuffer* dyn = findFirstDynamic(node_id);
DynamicTransferBuffer* dyn = findFirstDynamic(key);
if (dyn)
{
dynamic_buffers_.remove(dyn);
libuavcan/include/uavcan/internal/transport/transfer_receiver.hpp
+5 -8
View File
@@ -27,8 +27,8 @@ private:
uint64_t this_transfer_timestamp_;
uint64_t transfer_interval_;
ITransferBufferManager* bufmgr_;
TransferBufferManagerKey bufmgr_key_;
TransferID tid_;
uint8_t node_id_;
uint8_t iface_index_;
uint8_t next_frame_index_;
@@ -52,24 +52,21 @@ public:
, this_transfer_timestamp_(0)
, transfer_interval_(DEFAULT_TRANSFER_INTERVAL)
, bufmgr_(NULL)
, node_id_(NODE_ID_INVALID)
, iface_index_(IFACE_INDEX_NOTSET)
, next_frame_index_(0)
{ }
TransferReceiver(ITransferBufferManager* bufmgr, uint8_t node_id)
TransferReceiver(ITransferBufferManager* bufmgr, const TransferBufferManagerKey& bufmgr_key)
: prev_transfer_timestamp_(0)
, this_transfer_timestamp_(0)
, transfer_interval_(DEFAULT_TRANSFER_INTERVAL)
, bufmgr_(bufmgr)
, node_id_(node_id)
, bufmgr_key_(bufmgr_key)
, iface_index_(IFACE_INDEX_NOTSET)
, next_frame_index_(0)
{
assert(bufmgr);
assert(node_id <= NODE_ID_MAX);
assert(node_id != NODE_ID_INVALID);
assert(node_id != NODE_ID_BROADCAST);
assert(bufmgr_key.getNodeID() != NODE_ID_BROADCAST);
}
~TransferReceiver() { cleanup(); }
@@ -82,7 +79,7 @@ public:
transfer_interval_ = rhs.transfer_interval_;
bufmgr_ = rhs.bufmgr_;
tid_ = rhs.tid_;
node_id_ = rhs.node_id_;
bufmgr_key_ = rhs.bufmgr_key_;
iface_index_ = rhs.iface_index_;
next_frame_index_ = rhs.next_frame_index_;
return *this;