From 954ab2491a93456380ee955e691cf4cf3aad5079 Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Thu, 28 May 2015 12:50:12 +0300
Subject: [PATCH] Fruitless attempt to optimize memory use

---
 .../dynamic_node_id_server/node_discoverer.hpp      |  2 +-
 .../dynamic_node_id_server/centralized/server.cpp   |  1 +
 .../dynamic_node_id_server/node_discoverer.cpp      | 13 +++++++++++++
 3 files changed, 15 insertions(+), 1 deletion(-)

diff --git a/libuavcan/include/uavcan/protocol/dynamic_node_id_server/node_discoverer.hpp b/libuavcan/include/uavcan/protocol/dynamic_node_id_server/node_discoverer.hpp
index 827551250c..e5e4da5e1f 100644
--- a/libuavcan/include/uavcan/protocol/dynamic_node_id_server/node_discoverer.hpp
+++ b/libuavcan/include/uavcan/protocol/dynamic_node_id_server/node_discoverer.hpp
@@ -106,7 +106,7 @@ class NodeDiscoverer : TimerBase
     NodeMap node_map_;                                  ///< Will not work in UAVCAN_TINY
 
     ServiceClient<protocol::GetNodeInfo, GetNodeInfoResponseCallback> get_node_info_client_;
-    Subscriber<protocol::NodeStatus, NodeStatusCallback, NumNodeStatusStaticReceivers> node_status_sub_;
+    Subscriber<protocol::NodeStatus, NodeStatusCallback, NumNodeStatusStaticReceivers, 0> node_status_sub_;
 
     /*
      * Methods
diff --git a/libuavcan/test/protocol/dynamic_node_id_server/centralized/server.cpp b/libuavcan/test/protocol/dynamic_node_id_server/centralized/server.cpp
index c1da6f09d1..5e83b19d05 100644
--- a/libuavcan/test/protocol/dynamic_node_id_server/centralized/server.cpp
+++ b/libuavcan/test/protocol/dynamic_node_id_server/centralized/server.cpp
@@ -74,4 +74,5 @@ TEST(dynamic_node_id_server_centralized, ObjectSizes)
     using namespace uavcan::dynamic_node_id_server;
     std::cout << "centralized::Storage: " << sizeof(centralized::Storage) << std::endl;
     std::cout << "centralized::Server:  " << sizeof(centralized::Server) << std::endl;
+    std::cout << "NodeDiscoverer:       " << sizeof(NodeDiscoverer) << std::endl;
 }
diff --git a/libuavcan/test/protocol/dynamic_node_id_server/node_discoverer.cpp b/libuavcan/test/protocol/dynamic_node_id_server/node_discoverer.cpp
index 304070bf3f..7313bf0b0a 100644
--- a/libuavcan/test/protocol/dynamic_node_id_server/node_discoverer.cpp
+++ b/libuavcan/test/protocol/dynamic_node_id_server/node_discoverer.cpp
@@ -275,3 +275,16 @@ TEST(dynamic_node_id_server_NodeDiscoverer, RestartAndMaxAttempts)
     ASSERT_TRUE(handler.findNode(UniqueID()));
     ASSERT_EQ(2, handler.findNode(UniqueID())->node_id.get());
 }
+
+
+TEST(dynamic_node_id_server_NodeDiscoverer, Sizes)
+{
+    using namespace uavcan;
+
+    std::cout << "BitSet<NodeID::Max + 1>:              " << sizeof(BitSet<NodeID::Max + 1>) << std::endl;
+    std::cout << "ServiceClient<protocol::GetNodeInfo>: " << sizeof(ServiceClient<protocol::GetNodeInfo>) << std::endl;
+    std::cout << "protocol::GetNodeInfo::Response:      " << sizeof(protocol::GetNodeInfo::Response) << std::endl;
+    std::cout << "Subscriber<protocol::NodeStatus, ~, 64, 0>: "
+              << sizeof(Subscriber<protocol::NodeStatus,
+                                   void (*)(const ReceivedDataStructure<protocol::NodeStatus>&), 64, 0>) << std::endl;
+}