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OTR deinterfaced

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This commit is contained in:
Pavel Kirienko
2015-10-14 20:15:19 +03:00
parent 0d5fc65907
commit 899aae44f7
10 changed files with 56 additions and 97 deletions
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libuavcan/include/uavcan/node/node.hpp
+1 -3
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@@ -47,7 +47,6 @@ class UAVCAN_EXPORT Node : public INode
typedef PoolAllocator<MemPoolSize, MemPoolBlockSize> Allocator;
Allocator pool_allocator_;
OutgoingTransferRegistry outgoing_trans_reg_;
Scheduler scheduler_;
NodeStatusProvider proto_nsp_;
@@ -75,8 +74,7 @@ protected:
public:
Node(ICanDriver& can_driver, ISystemClock& system_clock)
: outgoing_trans_reg_(pool_allocator_)
, scheduler_(can_driver, pool_allocator_, system_clock, outgoing_trans_reg_)
: scheduler_(can_driver, pool_allocator_, system_clock)
, proto_nsp_(*this)
#if !UAVCAN_TINY
, proto_dtp_(*this)
libuavcan/include/uavcan/node/scheduler.hpp
+2 -2
View File
@@ -92,8 +92,8 @@ class UAVCAN_EXPORT Scheduler : Noncopyable
void pollCleanup(MonotonicTime mono_ts, uint32_t num_frames_processed_with_last_spin);
public:
Scheduler(ICanDriver& can_driver, IPoolAllocator& allocator, ISystemClock& sysclock, IOutgoingTransferRegistry& otr)
: dispatcher_(can_driver, allocator, sysclock, otr)
Scheduler(ICanDriver& can_driver, IPoolAllocator& allocator, ISystemClock& sysclock)
: dispatcher_(can_driver, allocator, sysclock)
, prev_cleanup_ts_(sysclock.getMonotonic())
, deadline_resolution_(MonotonicDuration::fromMSec(DefaultDeadlineResolutionMs))
, cleanup_period_(MonotonicDuration::fromMSec(DefaultCleanupPeriodMs))
libuavcan/include/uavcan/node/sub_node.hpp
+1 -3
View File
@@ -31,7 +31,6 @@ class UAVCAN_EXPORT SubNode : public INode
typedef PoolAllocator<MemPoolSize, MemPoolBlockSize> Allocator;
Allocator pool_allocator_;
OutgoingTransferRegistry outgoing_trans_reg_;
Scheduler scheduler_;
uint64_t internal_failure_cnt_;
@@ -46,8 +45,7 @@ protected:
public:
SubNode(ICanDriver& can_driver, ISystemClock& system_clock) :
outgoing_trans_reg_(pool_allocator_),
scheduler_(can_driver, pool_allocator_, system_clock, outgoing_trans_reg_),
scheduler_(can_driver, pool_allocator_, system_clock),
internal_failure_cnt_(0)
{ }
libuavcan/include/uavcan/transport/dispatcher.hpp
+4 -4
View File
@@ -81,7 +81,7 @@ class UAVCAN_EXPORT Dispatcher : Noncopyable
{
CanIOManager canio_;
ISystemClock& sysclock_;
IOutgoingTransferRegistry& outgoing_transfer_reg_;
OutgoingTransferRegistry outgoing_transfer_reg_;
TransferPerfCounter perf_;
class ListenerRegistry
@@ -133,10 +133,10 @@ class UAVCAN_EXPORT Dispatcher : Noncopyable
void notifyRxFrameListener(const CanRxFrame& can_frame, CanIOFlags flags);
public:
Dispatcher(ICanDriver& driver, IPoolAllocator& allocator, ISystemClock& sysclock, IOutgoingTransferRegistry& otr)
Dispatcher(ICanDriver& driver, IPoolAllocator& allocator, ISystemClock& sysclock)
: canio_(driver, allocator, sysclock)
, sysclock_(sysclock)
, outgoing_transfer_reg_(otr)
, outgoing_transfer_reg_(allocator)
#if !UAVCAN_TINY
, rx_listener_(NULL)
#endif
@@ -201,7 +201,7 @@ public:
* @}
*/
IOutgoingTransferRegistry& getOutgoingTransferRegistry() { return outgoing_transfer_reg_; }
OutgoingTransferRegistry& getOutgoingTransferRegistry() { return outgoing_transfer_reg_; }
#if !UAVCAN_TINY
LoopbackFrameListenerRegistry& getLoopbackFrameListenerRegistry() { return loopback_listeners_; }
libuavcan/include/uavcan/transport/outgoing_transfer_registry.hpp
+6 -56
View File
@@ -60,23 +60,8 @@ public:
* Outgoing transfer registry keeps track of Transfer ID values for all currently existing local transfer senders.
* If a local transfer sender was inactive for a sufficiently long time, the outgoing transfer registry will
* remove the respective Transfer ID tracking object.
*
* TODO: Deinterface this.
*/
class UAVCAN_EXPORT IOutgoingTransferRegistry
{
public:
static const MonotonicDuration MinEntryLifetime;
virtual ~IOutgoingTransferRegistry() { }
virtual TransferID* accessOrCreate(const OutgoingTransferRegistryKey& key, MonotonicTime new_deadline) = 0;
virtual bool exists(DataTypeID dtid, TransferType tt) const = 0;
virtual void cleanup(MonotonicTime deadline) = 0;
};
class UAVCAN_EXPORT OutgoingTransferRegistry : public IOutgoingTransferRegistry, Noncopyable
class UAVCAN_EXPORT OutgoingTransferRegistry : Noncopyable
{
struct Value
{
@@ -127,54 +112,19 @@ class UAVCAN_EXPORT OutgoingTransferRegistry : public IOutgoingTransferRegistry,
Map<OutgoingTransferRegistryKey, Value> map_;
public:
static const MonotonicDuration MinEntryLifetime;
explicit OutgoingTransferRegistry(IPoolAllocator& allocator)
: map_(allocator)
{ }
virtual TransferID* accessOrCreate(const OutgoingTransferRegistryKey& key, MonotonicTime new_deadline);
TransferID* accessOrCreate(const OutgoingTransferRegistryKey& key, MonotonicTime new_deadline);
virtual bool exists(DataTypeID dtid, TransferType tt) const;
bool exists(DataTypeID dtid, TransferType tt) const;
virtual void cleanup(MonotonicTime ts);
void cleanup(MonotonicTime ts);
};
// ----------------------------------------------------------------------------
/*
* OutgoingTransferRegistry
* TODO: deinterface and move to .cpp
*/
inline
TransferID* OutgoingTransferRegistry::accessOrCreate(const OutgoingTransferRegistryKey& key,
MonotonicTime new_deadline)
{
UAVCAN_ASSERT(!new_deadline.isZero());
Value* p = map_.access(key);
if (p == NULL)
{
p = map_.insert(key, Value());
if (p == NULL)
{
return NULL;
}
UAVCAN_TRACE("OutgoingTransferRegistry", "Created %s", key.toString().c_str());
}
p->deadline = new_deadline;
return &p->tid;
}
inline
bool OutgoingTransferRegistry::exists(DataTypeID dtid, TransferType tt) const
{
return NULL != map_.find(ExistenceCheckingPredicate(dtid, tt));
}
inline
void OutgoingTransferRegistry::cleanup(MonotonicTime ts)
{
map_.removeAllWhere(DeadlineExpiredPredicate(ts));
}
}
#endif // UAVCAN_TRANSPORT_OUTGOING_TRANSFER_REGISTRY_HPP_INCLUDED