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Renamed DynamicNodeIDClient

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This commit is contained in:
Pavel Kirienko
2015-05-09 11:56:17 +03:00
parent 69c361e259
commit 8ea708b77e
4 changed files with 30 additions and 32 deletions
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libuavcan/include/uavcan/protocol/dynamic_node_id_allocation_client.hpp → libuavcan/include/uavcan/protocol/dynamic_node_id_client.hpp
+7 -7
View File
@@ -2,8 +2,8 @@
* Copyright (C) 2015 Pavel Kirienko <pavel.kirienko@gmail.com>
*/
#ifndef UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_CLIENT_HPP_INCLUDED
#define UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_CLIENT_HPP_INCLUDED
#ifndef UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_CLIENT_HPP_INCLUDED
#define UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_CLIENT_HPP_INCLUDED
#include <uavcan/node/subscriber.hpp>
#include <uavcan/node/publisher.hpp>
@@ -26,10 +26,10 @@ namespace uavcan
*
* Once dynamic allocation is complete (or not needed anymore), the object can be deleted.
*/
class DynamicNodeIDAllocationClient : private TimerBase
class DynamicNodeIDClient : private TimerBase
{
typedef MethodBinder<DynamicNodeIDAllocationClient*,
void (DynamicNodeIDAllocationClient::*)
typedef MethodBinder<DynamicNodeIDClient*,
void (DynamicNodeIDClient::*)
(const ReceivedDataStructure<protocol::dynamic_node_id::Allocation>&)>
AllocationCallback;
@@ -48,7 +48,7 @@ class DynamicNodeIDAllocationClient : private TimerBase
void handleAllocation(const ReceivedDataStructure<protocol::dynamic_node_id::Allocation>& msg);
public:
DynamicNodeIDAllocationClient(INode& node)
DynamicNodeIDClient(INode& node)
: TimerBase(node)
, dnida_pub_(node)
, dnida_sub_(node)
@@ -91,4 +91,4 @@ public:
}
#endif // UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_ALLOCATION_CLIENT_HPP_INCLUDED
#endif // UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_CLIENT_HPP_INCLUDED
libuavcan/src/protocol/uc_dynamic_node_id_allocation_client.cpp → libuavcan/src/protocol/uc_dynamic_node_id_client.cpp
+15 -17
View File
@@ -2,19 +2,19 @@
* Copyright (C) 2015 Pavel Kirienko <pavel.kirienko@gmail.com>
*/
#include <uavcan/protocol/dynamic_node_id_allocation_client.hpp>
#include <uavcan/protocol/dynamic_node_id_client.hpp>
namespace uavcan
{
void DynamicNodeIDAllocationClient::terminate()
void DynamicNodeIDClient::terminate()
{
UAVCAN_TRACE("DynamicNodeIDAllocationClient", "Client terminated");
UAVCAN_TRACE("DynamicNodeIDClient", "Client terminated");
stop();
dnida_sub_.stop();
}
void DynamicNodeIDAllocationClient::handleTimerEvent(const TimerEvent&)
void DynamicNodeIDClient::handleTimerEvent(const TimerEvent&)
{
// This method implements Rule B
UAVCAN_ASSERT(preferred_node_id_.isValid());
@@ -35,17 +35,16 @@ void DynamicNodeIDAllocationClient::handleTimerEvent(const TimerEvent&)
UAVCAN_ASSERT(equal(msg.unique_id.begin(), msg.unique_id.end(), unique_id_));
// Broadcasting
UAVCAN_TRACE("DynamicNodeIDAllocationClient", "Broadcasting 1st stage: preferred ID: %d",
UAVCAN_TRACE("DynamicNodeIDClient", "Broadcasting 1st stage: preferred ID: %d",
static_cast<int>(preferred_node_id_.get()));
const int res = dnida_pub_.broadcast(msg);
if (res < 0)
{
dnida_pub_.getNode().registerInternalFailure("DynamicNodeIDAllocationClient request failed");
dnida_pub_.getNode().registerInternalFailure("DynamicNodeIDClient request failed");
}
}
void DynamicNodeIDAllocationClient::handleAllocation(
const ReceivedDataStructure<protocol::dynamic_node_id::Allocation>& msg)
void DynamicNodeIDClient::handleAllocation(const ReceivedDataStructure<protocol::dynamic_node_id::Allocation>& msg)
{
/*
* TODO This method can blow the stack easily
@@ -59,7 +58,7 @@ void DynamicNodeIDAllocationClient::handleAllocation(
}
startPeriodic(getPeriod()); // Restarting the timer - Rule C
UAVCAN_TRACE("DynamicNodeIDAllocationClient", "Request timer reset because of Allocation message from %d",
UAVCAN_TRACE("DynamicNodeIDClient", "Request timer reset because of Allocation message from %d",
static_cast<int>(msg.getSrcNodeID().get()));
// Rule D
@@ -88,13 +87,12 @@ void DynamicNodeIDAllocationClient::handleAllocation(
unique_id_ + msg.unique_id.size()));
// Broadcasting the response
UAVCAN_TRACE("DynamicNodeIDAllocationClient",
"Broadcasting 2nd stage: preferred ID: %d, size of unique ID: %d",
UAVCAN_TRACE("DynamicNodeIDClient", "Broadcasting 2nd stage: preferred ID: %d, size of unique ID: %d",
static_cast<int>(preferred_node_id_.get()), static_cast<int>(second_stage.unique_id.size()));
const int res = dnida_pub_.broadcast(second_stage);
if (res < 0)
{
dnida_pub_.getNode().registerInternalFailure("DynamicNodeIDAllocationClient request failed");
dnida_pub_.getNode().registerInternalFailure("DynamicNodeIDClient request failed");
}
}
@@ -106,16 +104,16 @@ void DynamicNodeIDAllocationClient::handleAllocation(
{
allocated_node_id_ = msg.node_id;
allocator_node_id_ = msg.getSrcNodeID();
UAVCAN_TRACE("DynamicNodeIDAllocationClient", "Allocation complete, node ID %d provided by %d",
UAVCAN_TRACE("DynamicNodeIDClient", "Allocation complete, node ID %d provided by %d",
static_cast<int>(allocated_node_id_.get()), static_cast<int>(allocator_node_id_.get()));
terminate();
UAVCAN_ASSERT(isAllocationComplete());
}
}
int DynamicNodeIDAllocationClient::start(const protocol::HardwareVersion& hardware_version,
const NodeID preferred_node_id,
const TransferPriority transfer_priority)
int DynamicNodeIDClient::start(const protocol::HardwareVersion& hardware_version,
const NodeID preferred_node_id,
const TransferPriority transfer_priority)
{
terminate();
@@ -168,7 +166,7 @@ int DynamicNodeIDAllocationClient::start(const protocol::HardwareVersion& hardwa
return res;
}
res = dnida_sub_.start(AllocationCallback(this, &DynamicNodeIDAllocationClient::handleAllocation));
res = dnida_sub_.start(AllocationCallback(this, &DynamicNodeIDClient::handleAllocation));
if (res < 0)
{
return res;
libuavcan/test/protocol/dynamic_node_id_allocation_server.cpp
+3 -3
View File
@@ -11,7 +11,7 @@
#include <map>
#include <memory>
#include <uavcan/protocol/dynamic_node_id_allocation_server.hpp>
#include <uavcan/protocol/dynamic_node_id_allocation_client.hpp>
#include <uavcan/protocol/dynamic_node_id_client.hpp>
#include "helpers.hpp"
class StorageBackend : public uavcan::IDynamicNodeIDStorageBackend
@@ -999,7 +999,7 @@ TEST(DynamicNodeIDAllocationServer, AllocationRequestManager)
// Node A is Allocator, Node B is Allocatee
InterlinkedTestNodesWithSysClock nodes(uavcan::NodeID(10), uavcan::NodeID::Broadcast);
uavcan::DynamicNodeIDAllocationClient client(nodes.b);
uavcan::DynamicNodeIDClient client(nodes.b);
/*
* Client initialization
@@ -1073,7 +1073,7 @@ TEST(DynamicNodeIDAllocationServer, Main)
/*
* Client
*/
uavcan::DynamicNodeIDAllocationClient client(nodes.b);
uavcan::DynamicNodeIDClient client(nodes.b);
uavcan::protocol::HardwareVersion hwver;
for (uavcan::uint8_t i = 0; i < hwver.unique_id.size(); i++)
{
libuavcan/test/protocol/dynamic_node_id_allocation_client.cpp → libuavcan/test/protocol/dynamic_node_id_client.cpp
+5 -5
View File
@@ -3,16 +3,16 @@
*/
#include <gtest/gtest.h>
#include <uavcan/protocol/dynamic_node_id_allocation_client.hpp>
#include <uavcan/protocol/dynamic_node_id_client.hpp>
#include "helpers.hpp"
TEST(DynamicNodeIDAllocationClient, Basic)
TEST(DynamicNodeIDClient, Basic)
{
// Node A is Allocator, Node B is Allocatee
InterlinkedTestNodesWithSysClock nodes(uavcan::NodeID(10), uavcan::NodeID::Broadcast);
uavcan::DynamicNodeIDAllocationClient dnidac(nodes.b);
uavcan::DynamicNodeIDClient dnidac(nodes.b);
uavcan::GlobalDataTypeRegistry::instance().reset();
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::dynamic_node_id::Allocation> _reg1;
@@ -162,11 +162,11 @@ TEST(DynamicNodeIDAllocationClient, Basic)
}
TEST(DynamicNodeIDAllocationClient, NonPassiveMode)
TEST(DynamicNodeIDClient, NonPassiveMode)
{
InterlinkedTestNodesWithSysClock nodes;
uavcan::DynamicNodeIDAllocationClient dnidac(nodes.b);
uavcan::DynamicNodeIDClient dnidac(nodes.b);
uavcan::GlobalDataTypeRegistry::instance().reset();
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::dynamic_node_id::Allocation> _reg1;