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Allocation request manager (untested)

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This commit is contained in:
Pavel Kirienko
2015-05-08 20:00:30 +03:00
parent 6a35e65ecc
commit 952009c284
3 changed files with 273 additions and 11 deletions
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libuavcan/include/uavcan/protocol/dynamic_node_id_allocation_server.hpp
+67 -7
View File
@@ -671,6 +671,67 @@ public:
}
};
/**
* The main allocator must implement this interface.
*/
class IAllocationRequestHandler
{
public:
typedef protocol::dynamic_node_id::server::Entry::FieldTypes::unique_id UniqueID;
virtual void handleAllocationRequest(const UniqueID& unique_id, NodeID preferred_node_id) = 0;
virtual ~IAllocationRequestHandler() { }
};
/**
* This class manages communication with allocation clients.
* Three-stage unique ID exchange is implemented here, as well as response publication.
*/
class AllocationRequestManager
{
typedef MethodBinder<AllocationRequestManager*,
void (AllocationRequestManager::*)
(const ReceivedDataStructure<protocol::dynamic_node_id::Allocation>&)>
AllocationCallback;
const MonotonicDuration stage_timeout_;
bool active_;
MonotonicTime last_message_timestamp_;
protocol::dynamic_node_id::Allocation::FieldTypes::unique_id current_unique_id_;
IAllocationRequestHandler& handler_;
Subscriber<protocol::dynamic_node_id::Allocation, AllocationCallback> allocation_sub_;
Publisher<protocol::dynamic_node_id::Allocation> allocation_pub_;
enum { InvalidStage = 0 };
static uint8_t detectRequestStage(const protocol::dynamic_node_id::Allocation& msg);
uint8_t getExpectedStage() const;
void broadcastIntermediateAllocationResponse();
void handleAllocation(const ReceivedDataStructure<protocol::dynamic_node_id::Allocation>& msg);
public:
AllocationRequestManager(INode& node, IAllocationRequestHandler& handler)
: stage_timeout_(MonotonicDuration::fromMSec(protocol::dynamic_node_id::Allocation::DEFAULT_REQUEST_PERIOD_MS))
, active_(false)
, handler_(handler)
, allocation_sub_(node)
, allocation_pub_(node)
{ }
int init();
void setActive(bool x);
bool isActive() const { return active_; }
int broadcastAllocationResponse(const IAllocationRequestHandler::UniqueID& unique_id, NodeID allocated_node_id);
};
} // namespace dynamic_node_id_server_impl
/**
@@ -678,21 +739,20 @@ public:
*/
class DynamicNodeIDAllocationServer
{
typedef MethodBinder<DynamicNodeIDAllocationServer*,
void (DynamicNodeIDAllocationServer::*)
(const ReceivedDataStructure<protocol::dynamic_node_id::Allocation>&)>
AllocationCallback;
typedef MethodBinder<DynamicNodeIDAllocationServer*,
void (DynamicNodeIDAllocationServer::*)
(const ReceivedDataStructure<protocol::NodeStatus>&)> NodeStatusCallback;
typedef Map<NodeID, uint8_t, 10> PendingGetNodeInfoAttemptsMap;
/*
* States
*/
PendingGetNodeInfoAttemptsMap pending_get_node_info_attempts_;
Subscriber<protocol::dynamic_node_id::Allocation, AllocationCallback> allocation_sub_;
Publisher<protocol::dynamic_node_id::Allocation> allocation_pub_;
/*
* Transport
*/
Subscriber<protocol::NodeStatus, NodeStatusCallback> node_status_sub_;