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Merge branch 'master' into dynamic_node_id_raft

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This commit is contained in:
Pavel Kirienko
2015-05-01 20:54:05 +03:00
parent 5527faca5d 90435991ca
commit 8096ac3e7c
2 changed files with 17 additions and 8 deletions
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libuavcan/include/uavcan/node/service_client.hpp
+4 -1
View File
@@ -84,12 +84,15 @@ static Stream& operator<<(Stream& s, const ServiceCallResult<DataType>& scr)
*/ */
class ServiceClientBase : protected DeadlineHandler class ServiceClientBase : protected DeadlineHandler
{ {
const DataTypeDescriptor* data_type_descriptor_; ///< This will be initialized at the time of first call
protected: protected:
MonotonicDuration request_timeout_; MonotonicDuration request_timeout_;
bool pending_; bool pending_;
explicit ServiceClientBase(INode& node) explicit ServiceClientBase(INode& node)
: DeadlineHandler(node.getScheduler()) : DeadlineHandler(node.getScheduler())
, data_type_descriptor_(NULL)
, request_timeout_(getDefaultRequestTimeout()) , request_timeout_(getDefaultRequestTimeout())
, pending_(false) , pending_(false)
{ } { }
@@ -159,7 +162,7 @@ private:
void invokeCallback(ServiceCallResultType& result); void invokeCallback(ServiceCallResultType& result);
void handleReceivedDataStruct(ReceivedDataStructure<ResponseType>& response); virtual void handleReceivedDataStruct(ReceivedDataStructure<ResponseType>& response);
virtual void handleDeadline(MonotonicTime); virtual void handleDeadline(MonotonicTime);
libuavcan/src/node/uc_service_client.cpp
+13 -7
View File
@@ -24,24 +24,30 @@ int ServiceClientBase::prepareToCall(INode& node, const char* dtname, NodeID ser
/* /*
* Determining the Data Type ID * Determining the Data Type ID
*/ */
GlobalDataTypeRegistry::instance().freeze(); if (data_type_descriptor_ == NULL)
const DataTypeDescriptor* const descr = GlobalDataTypeRegistry::instance().find(DataTypeKindService, dtname);
if (!descr)
{ {
UAVCAN_TRACE("ServiceClient", "Type [%s] is not registered", dtname); GlobalDataTypeRegistry::instance().freeze();
return -ErrUnknownDataType; data_type_descriptor_ = GlobalDataTypeRegistry::instance().find(DataTypeKindService, dtname);
if (data_type_descriptor_ == NULL)
{
UAVCAN_TRACE("ServiceClient", "Type [%s] is not registered", dtname);
return -ErrUnknownDataType;
}
UAVCAN_TRACE("ServiceClient", "Data type descriptor inited: %s", data_type_descriptor_->toString().c_str());
} }
UAVCAN_ASSERT(data_type_descriptor_ != NULL);
/* /*
* Determining the Transfer ID * Determining the Transfer ID
*/ */
const OutgoingTransferRegistryKey otr_key(descr->getID(), TransferTypeServiceRequest, server_node_id); const OutgoingTransferRegistryKey otr_key(data_type_descriptor_->getID(),
TransferTypeServiceRequest, server_node_id);
const MonotonicTime otr_deadline = node.getMonotonicTime() + TransferSender::getDefaultMaxTransferInterval(); const MonotonicTime otr_deadline = node.getMonotonicTime() + TransferSender::getDefaultMaxTransferInterval();
TransferID* const otr_tid = TransferID* const otr_tid =
node.getDispatcher().getOutgoingTransferRegistry().accessOrCreate(otr_key, otr_deadline); node.getDispatcher().getOutgoingTransferRegistry().accessOrCreate(otr_key, otr_deadline);
if (!otr_tid) if (!otr_tid)
{ {
UAVCAN_TRACE("ServiceClient", "OTR access failure, dtd=%s", descr->toString().c_str()); UAVCAN_TRACE("ServiceClient", "OTR access failure, dtd=%s", data_type_descriptor_->toString().c_str());
return -ErrMemory; return -ErrMemory;
} }
out_transfer_id = *otr_tid; out_transfer_id = *otr_tid;