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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/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;