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NodeInfoRetriever - using Multiset instead of Map<>

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This commit is contained in:
Pavel Kirienko 2015-05-16 23:17:54 +03:00
parent 3f9cad4f3b
commit 7df9fb0820
1 changed files with 28 additions and 16 deletions
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44
libuavcan/include/uavcan/protocol/node_info_retriever.hpp
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@ -7,7 +7,7 @@
#include <uavcan/build_config.hpp>
#include <uavcan/debug.hpp>
#include <uavcan/util/map.hpp>
#include <uavcan/util/multiset.hpp>
#include <uavcan/node/service_client.hpp>
#include <uavcan/node/timer.hpp>
#include <uavcan/protocol/node_status_monitor.hpp>
@ -109,7 +109,7 @@ private:
, node_info(arg_node_info)
{ }
bool operator()(INodeInfoListener* key, bool)
bool operator()(INodeInfoListener* key)
{
UAVCAN_ASSERT(key != NULL);
key->handleNodeInfoRetrieved(node_id, node_info);
@ -128,7 +128,7 @@ private:
, event(arg_event)
{ }
bool operator()(INodeInfoListener* key, bool)
bool operator()(INodeInfoListener* key)
{
UAVCAN_ASSERT(key != NULL);
(key->*method)(event);
@ -141,7 +141,7 @@ private:
*/
Entry entries_[NodeID::Max]; // [1, NodeID::Max]
Map<INodeInfoListener*, bool, 2> listeners_; // Only keys are used
Multiset<INodeInfoListener*, 2> listeners_;
ServiceClient<protocol::GetNodeInfo, GetNodeInfoResponseCallback> get_node_info_client_;
@ -253,7 +253,7 @@ private:
}
}
listeners_.removeAllWhere(
listeners_.forEach(
GenericHandlerCaller<const NodeStatusChangeEvent&>(&INodeInfoListener::handleNodeStatusChange, event));
}
@ -271,7 +271,7 @@ private:
entry.uptime_sec = msg.uptime_sec;
entry.updated_since_last_attempt = true;
listeners_.removeAllWhere(GenericHandlerCaller<const ReceivedDataStructure<protocol::NodeStatus>&>(
listeners_.forEach(GenericHandlerCaller<const ReceivedDataStructure<protocol::NodeStatus>&>(
&INodeInfoListener::handleNodeStatusMessage, msg));
}
@ -287,8 +287,8 @@ private:
*/
entry.uptime_sec = result.getResponse().status.uptime_sec;
entry.request_needed = false;
listeners_.removeAllWhere(NodeInfoRetrievedHandlerCaller(result.getCallID().server_node_id,
result.getResponse()));
listeners_.forEach(NodeInfoRetrievedHandlerCaller(result.getCallID().server_node_id,
result.getResponse()));
}
else
{
@ -298,8 +298,8 @@ private:
if (entry.num_attempts_made >= num_attempts_)
{
entry.request_needed = false;
listeners_.removeAllWhere(GenericHandlerCaller<NodeID>(
&INodeInfoListener::handleNodeInfoUnavailable, result.getCallID().server_node_id));
listeners_.forEach(GenericHandlerCaller<NodeID>(&INodeInfoListener::handleNodeInfoUnavailable,
result.getCallID().server_node_id));
}
}
}
@ -340,14 +340,20 @@ public:
}
/**
* Adds one listener to the set.
* Adds one listener. Does nothing if such listener already exists.
* May return -ErrMemory if there's no space to add the listener.
*/
int addListener(INodeInfoListener* listener)
{
UAVCAN_ASSERT(listener != NULL);
bool* value = listeners_.insert(listener, true);
return (value == NULL) ? -ErrMemory : 0;
if (listener != NULL)
{
removeListener(listener);
return (NULL == listeners_.emplace(listener)) ? -ErrMemory : 0;
}
else
{
return -ErrInvalidParam;
}
}
/**
@ -356,8 +362,14 @@ public:
*/
void removeListener(INodeInfoListener* listener)
{
UAVCAN_ASSERT(listener != NULL);
listeners_.remove(listener);
if (listener != NULL)
{
listeners_.removeAll(listener);
}
else
{
UAVCAN_ASSERT(0);
}
}
/**