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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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libuavcan/include/uavcan/protocol/node_info_retriever.hpp
+28 -16
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@@ -7,7 +7,7 @@
#include <uavcan/build_config.hpp> #include <uavcan/build_config.hpp>
#include <uavcan/debug.hpp> #include <uavcan/debug.hpp>
#include <uavcan/util/map.hpp> #include <uavcan/util/multiset.hpp>
#include <uavcan/node/service_client.hpp> #include <uavcan/node/service_client.hpp>
#include <uavcan/node/timer.hpp> #include <uavcan/node/timer.hpp>
#include <uavcan/protocol/node_status_monitor.hpp> #include <uavcan/protocol/node_status_monitor.hpp>
@@ -109,7 +109,7 @@ private:
, node_info(arg_node_info) , node_info(arg_node_info)
{ } { }
bool operator()(INodeInfoListener* key, bool) bool operator()(INodeInfoListener* key)
{ {
UAVCAN_ASSERT(key != NULL); UAVCAN_ASSERT(key != NULL);
key->handleNodeInfoRetrieved(node_id, node_info); key->handleNodeInfoRetrieved(node_id, node_info);
@@ -128,7 +128,7 @@ private:
, event(arg_event) , event(arg_event)
{ } { }
bool operator()(INodeInfoListener* key, bool) bool operator()(INodeInfoListener* key)
{ {
UAVCAN_ASSERT(key != NULL); UAVCAN_ASSERT(key != NULL);
(key->*method)(event); (key->*method)(event);
@@ -141,7 +141,7 @@ private:
*/ */
Entry entries_[NodeID::Max]; // [1, NodeID::Max] 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_; ServiceClient<protocol::GetNodeInfo, GetNodeInfoResponseCallback> get_node_info_client_;
@@ -253,7 +253,7 @@ private:
} }
} }
listeners_.removeAllWhere( listeners_.forEach(
GenericHandlerCaller<const NodeStatusChangeEvent&>(&INodeInfoListener::handleNodeStatusChange, event)); GenericHandlerCaller<const NodeStatusChangeEvent&>(&INodeInfoListener::handleNodeStatusChange, event));
} }
@@ -271,7 +271,7 @@ private:
entry.uptime_sec = msg.uptime_sec; entry.uptime_sec = msg.uptime_sec;
entry.updated_since_last_attempt = true; entry.updated_since_last_attempt = true;
listeners_.removeAllWhere(GenericHandlerCaller<const ReceivedDataStructure<protocol::NodeStatus>&>( listeners_.forEach(GenericHandlerCaller<const ReceivedDataStructure<protocol::NodeStatus>&>(
&INodeInfoListener::handleNodeStatusMessage, msg)); &INodeInfoListener::handleNodeStatusMessage, msg));
} }
@@ -287,8 +287,8 @@ private:
*/ */
entry.uptime_sec = result.getResponse().status.uptime_sec; entry.uptime_sec = result.getResponse().status.uptime_sec;
entry.request_needed = false; entry.request_needed = false;
listeners_.removeAllWhere(NodeInfoRetrievedHandlerCaller(result.getCallID().server_node_id, listeners_.forEach(NodeInfoRetrievedHandlerCaller(result.getCallID().server_node_id,
result.getResponse())); result.getResponse()));
} }
else else
{ {
@@ -298,8 +298,8 @@ private:
if (entry.num_attempts_made >= num_attempts_) if (entry.num_attempts_made >= num_attempts_)
{ {
entry.request_needed = false; entry.request_needed = false;
listeners_.removeAllWhere(GenericHandlerCaller<NodeID>( listeners_.forEach(GenericHandlerCaller<NodeID>(&INodeInfoListener::handleNodeInfoUnavailable,
&INodeInfoListener::handleNodeInfoUnavailable, result.getCallID().server_node_id)); 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. * May return -ErrMemory if there's no space to add the listener.
*/ */
int addListener(INodeInfoListener* listener) int addListener(INodeInfoListener* listener)
{ {
UAVCAN_ASSERT(listener != NULL); if (listener != NULL)
bool* value = listeners_.insert(listener, true); {
return (value == NULL) ? -ErrMemory : 0; removeListener(listener);
return (NULL == listeners_.emplace(listener)) ? -ErrMemory : 0;
}
else
{
return -ErrInvalidParam;
}
} }
/** /**
@@ -356,8 +362,14 @@ public:
*/ */
void removeListener(INodeInfoListener* listener) void removeListener(INodeInfoListener* listener)
{ {
UAVCAN_ASSERT(listener != NULL); if (listener != NULL)
listeners_.remove(listener); {
listeners_.removeAll(listener);
}
else
{
UAVCAN_ASSERT(0);
}
} }
/** /**