OTR deinterfaced

libuavcan/include/uavcan/node/node.hpp

@@ -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)
-        , scheduler_(can_driver, pool_allocator_, system_clock, outgoing_trans_reg_)
         , proto_nsp_(*this)
 #if !UAVCAN_TINY
         , proto_dtp_(*this)

libuavcan/include/uavcan/node/scheduler.hpp

@@ -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)
+    Scheduler(ICanDriver& can_driver, IPoolAllocator& allocator, ISystemClock& sysclock)
-        : dispatcher_(can_driver, allocator, sysclock, otr)
+        : 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

@@ -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),
-        scheduler_(can_driver, pool_allocator_, system_clock, outgoing_trans_reg_),
         internal_failure_cnt_(0)
     { }
 

libuavcan/include/uavcan/transport/dispatcher.hpp

@@ -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

@@ -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
+class UAVCAN_EXPORT OutgoingTransferRegistry : Noncopyable
-{
-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
 {
     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

libuavcan/src/transport/uc_outgoing_transfer_registry.cpp

@@ -20,8 +20,36 @@ std::string OutgoingTransferRegistryKey::toString() const
 #endif
 
 /*
- * IOutgoingTransferRegistry
+ * OutgoingTransferRegistry
  */
-const MonotonicDuration IOutgoingTransferRegistry::MinEntryLifetime = MonotonicDuration::fromMSec(2000);
+const MonotonicDuration OutgoingTransferRegistry::MinEntryLifetime = MonotonicDuration::fromMSec(2000);
+
+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;
+}
+
+bool OutgoingTransferRegistry::exists(DataTypeID dtid, TransferType tt) const
+{
+    return NULL != map_.find(ExistenceCheckingPredicate(dtid, tt));
+}
+
+void OutgoingTransferRegistry::cleanup(MonotonicTime ts)
+{
+    map_.removeAllWhere(DeadlineExpiredPredicate(ts));
+}
 
 }

libuavcan/src/transport/uc_transfer_sender.cpp

@@ -153,7 +153,7 @@ int TransferSender::send(const uint8_t* payload, unsigned payload_len, Monotonic
 
     UAVCAN_ASSERT(!tx_deadline.isZero());
     const MonotonicTime otr_deadline = tx_deadline + max(max_transfer_interval_ * 2,
-                                                         IOutgoingTransferRegistry::MinEntryLifetime);
+                                                         OutgoingTransferRegistry::MinEntryLifetime);
 
     TransferID* const tid = dispatcher_.getOutgoingTransferRegistry().accessOrCreate(otr_key, otr_deadline);
     if (tid == NULL)

libuavcan/test/node/test_node.hpp

@@ -20,13 +20,11 @@
 struct TestNode : public uavcan::INode
 {
     uavcan::PoolAllocator<uavcan::MemPoolBlockSize * 1024, uavcan::MemPoolBlockSize> pool;
-    uavcan::OutgoingTransferRegistry otr;
     uavcan::Scheduler scheduler;
     uint64_t internal_failure_count;
 
     TestNode(uavcan::ICanDriver& can_driver, uavcan::ISystemClock& clock_driver, uavcan::NodeID self_node_id)
-        : otr(pool)
+        : scheduler(can_driver, pool, clock_driver)
-        , scheduler(can_driver, pool, clock_driver, otr)
         , internal_failure_count(0)
     {
         setNodeID(self_node_id);

libuavcan/test/transport/dispatcher.cpp

@@ -57,9 +57,7 @@ TEST(Dispatcher, Reception)
     SystemClockMock clockmock(100);
     CanDriverMock driver(2, clockmock);
 
-    uavcan::OutgoingTransferRegistry out_trans_reg(pool);
+    uavcan::Dispatcher dispatcher(driver, pool, clockmock);
-
-    uavcan::Dispatcher dispatcher(driver, pool, clockmock, out_trans_reg);
     ASSERT_TRUE(dispatcher.setNodeID(SELF_NODE_ID));  // Can be set only once
     ASSERT_FALSE(dispatcher.setNodeID(SELF_NODE_ID));
     ASSERT_EQ(SELF_NODE_ID, dispatcher.getNodeID());
@@ -255,9 +253,7 @@ TEST(Dispatcher, Transmission)
     SystemClockMock clockmock(100);
     CanDriverMock driver(2, clockmock);
 
-    uavcan::OutgoingTransferRegistry out_trans_reg(pool);
+    uavcan::Dispatcher dispatcher(driver, pool, clockmock);
-
-    uavcan::Dispatcher dispatcher(driver, pool, clockmock, out_trans_reg);
     ASSERT_TRUE(dispatcher.setNodeID(SELF_NODE_ID));  // Can be set only once
     ASSERT_FALSE(dispatcher.setNodeID(SELF_NODE_ID));
 
@@ -280,7 +276,8 @@ TEST(Dispatcher, Transmission)
     ASSERT_FALSE(dispatcher.hasPublisher(123));
     ASSERT_FALSE(dispatcher.hasPublisher(456));
     const uavcan::OutgoingTransferRegistryKey otr_key(123, uavcan::TransferTypeMessageBroadcast, 0);
-    ASSERT_TRUE(out_trans_reg.accessOrCreate(otr_key, uavcan::MonotonicTime::fromMSec(1000000)));
+    ASSERT_TRUE(dispatcher.getOutgoingTransferRegistry().accessOrCreate(otr_key,
+                                                                        uavcan::MonotonicTime::fromMSec(1000000)));
     ASSERT_TRUE(dispatcher.hasPublisher(123));
     ASSERT_FALSE(dispatcher.hasPublisher(456));
 
@@ -319,9 +316,7 @@ TEST(Dispatcher, Spin)
     SystemClockMock clockmock(100);
     CanDriverMock driver(2, clockmock);
 
-    uavcan::OutgoingTransferRegistry out_trans_reg(poolmgr);
+    uavcan::Dispatcher dispatcher(driver, poolmgr, clockmock);
-
-    uavcan::Dispatcher dispatcher(driver, poolmgr, clockmock, out_trans_reg);
     ASSERT_TRUE(dispatcher.setNodeID(SELF_NODE_ID));  // Can be set only once
     ASSERT_FALSE(dispatcher.setNodeID(SELF_NODE_ID));
 
@@ -365,9 +360,7 @@ TEST(Dispatcher, Loopback)
     SystemClockMock clockmock(100);
     CanDriverMock driver(2, clockmock);
 
-    uavcan::OutgoingTransferRegistry out_trans_reg(poolmgr);
+    uavcan::Dispatcher dispatcher(driver, poolmgr, clockmock);
-
-    uavcan::Dispatcher dispatcher(driver, poolmgr, clockmock, out_trans_reg);
     ASSERT_TRUE(dispatcher.setNodeID(SELF_NODE_ID));
 
     {

libuavcan/test/transport/transfer_sender.cpp

@@ -34,12 +34,10 @@ TEST(TransferSender, Basic)
     SystemClockMock clockmock(100);
     CanDriverMock driver(2, clockmock);
 
-    uavcan::OutgoingTransferRegistry out_trans_reg(poolmgr);
-
     static const uavcan::NodeID TX_NODE_ID(64);
     static const uavcan::NodeID RX_NODE_ID(65);
-    uavcan::Dispatcher dispatcher_tx(driver, poolmgr, clockmock, out_trans_reg);
+    uavcan::Dispatcher dispatcher_tx(driver, poolmgr, clockmock);
-    uavcan::Dispatcher dispatcher_rx(driver, poolmgr, clockmock, out_trans_reg);
+    uavcan::Dispatcher dispatcher_rx(driver, poolmgr, clockmock);
     ASSERT_TRUE(dispatcher_tx.setNodeID(TX_NODE_ID));
     ASSERT_TRUE(dispatcher_rx.setNodeID(RX_NODE_ID));
 
@@ -195,10 +193,8 @@ TEST(TransferSender, Loopback)
     SystemClockMock clockmock(100);
     CanDriverMock driver(2, clockmock);
 
-    uavcan::OutgoingTransferRegistry out_trans_reg(poolmgr);
-
     static const uavcan::NodeID TX_NODE_ID(64);
-    uavcan::Dispatcher dispatcher(driver, poolmgr, clockmock, out_trans_reg);
+    uavcan::Dispatcher dispatcher(driver, poolmgr, clockmock);
     ASSERT_TRUE(dispatcher.setNodeID(TX_NODE_ID));
 
     uavcan::DataTypeDescriptor desc = makeDataType(uavcan::DataTypeKindMessage, 1, "Foobar");
@@ -236,9 +232,7 @@ TEST(TransferSender, PassiveMode)
     SystemClockMock clockmock(100);
     CanDriverMock driver(2, clockmock);
 
-    uavcan::OutgoingTransferRegistry out_trans_reg(poolmgr);
+    uavcan::Dispatcher dispatcher(driver, poolmgr, clockmock);
-
-    uavcan::Dispatcher dispatcher(driver, poolmgr, clockmock, out_trans_reg);
 
     uavcan::TransferSender sender(dispatcher, makeDataType(uavcan::DataTypeKindMessage, 123),
                                   uavcan::CanTxQueue::Volatile);