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NodeDiscoverer: another test

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This commit is contained in:
Pavel Kirienko
2015-05-11 18:26:42 +03:00
parent 558171bf71
commit 8df1cfe1d9
2 changed files with 116 additions and 3 deletions
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libuavcan/include/uavcan/protocol/dynamic_node_id_server/node_discoverer.hpp
+30 -3
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@@ -183,11 +183,38 @@ class NodeDiscoverer : TimerBase
}
}
NodeID pickNextNodeToQueryAndCleanupMap()
{
NodeID node_id;
do
{
node_id = pickNextNodeToQuery();
if (node_id.isUnicast())
{
if (needToQuery(node_id))
{
return node_id;
}
else
{
node_map_.remove(node_id);
}
}
}
while (node_id.isUnicast());
return NodeID();
}
void finalizeNodeDiscovery(const UniqueID* unique_id_or_null, NodeID node_id)
{
trace(TraceDiscoveryNodeFinalized, node_id.get() | ((unique_id_or_null == NULL) ? 0U : 0x100U));
node_map_.remove(node_id);
if (needToQuery(node_id)) // Making sure the server is still interested
/*
* It is paramount to check if the server is still interested to receive this data.
* Otherwise, if the node appeared in the log while we were waiting for response, we'd end up with
* duplicate node ID in the log.
*/
if (needToQuery(node_id))
{
handler_.handleNewNodeDiscovery(unique_id_or_null, node_id);
}
@@ -235,7 +262,7 @@ class NodeDiscoverer : TimerBase
return; // Timer must continue to run in order to not stuck when it unlocks
}
const NodeID node_id = pickNextNodeToQuery();
const NodeID node_id = pickNextNodeToQueryAndCleanupMap();
if (!node_id.isUnicast())
{
trace(TraceDiscoveryTimerStop, 0);
@@ -285,7 +312,7 @@ class NodeDiscoverer : TimerBase
if (!isRunning())
{
trace(TraceDiscoveryTimerStart, get_node_info_client_.getRequestTimeout().toUSec());
startPeriodic(get_node_info_client_.getRequestTimeout());
startPeriodic(get_node_info_client_.getRequestTimeout() * 2);
}
}