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Timer constructor takes INode instead of Scheduler - for compatibility reasons

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This commit is contained in:
Pavel Kirienko
2014-03-14 23:04:45 +04:00
parent 6e49c2aeaf
commit 964e666f86
2 changed files with 15 additions and 21 deletions
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libuavcan/include/uavcan/node/timer.hpp
+5 -4
View File
@@ -7,6 +7,7 @@
#include <stdint.h>
#include <uavcan/node/scheduler.hpp>
#include <uavcan/util/compile_time.hpp>
#include <uavcan/node/abstract_node.hpp>
#include <uavcan/linked_list.hpp>
#include <uavcan/fatal_error.hpp>
@@ -39,8 +40,8 @@ public:
using DeadlineHandler::getDeadline;
using DeadlineHandler::getScheduler;
explicit Timer(Scheduler& scheduler)
: DeadlineHandler(scheduler)
explicit Timer(INode& node)
: DeadlineHandler(node.getScheduler())
, period_(MonotonicDuration::getInfinite())
{ }
@@ -60,12 +61,12 @@ class TimerEventForwarder : public Timer
Callback callback_;
public:
explicit TimerEventForwarder(Scheduler& node)
explicit TimerEventForwarder(INode& node)
: Timer(node)
, callback_()
{ }
TimerEventForwarder(Scheduler& node, Callback callback)
TimerEventForwarder(INode& node, Callback callback)
: Timer(node)
, callback_(callback)
{ }
libuavcan/test/node/scheduler.cpp
+10 -17
View File
@@ -7,6 +7,7 @@
#include <uavcan/util/method_binder.hpp>
#include "../clock.hpp"
#include "../transport/can/can.hpp"
#include "test_node.hpp"
struct TimerCallCounter
{
@@ -24,17 +25,9 @@ struct TimerCallCounter
*/
TEST(Scheduler, Timers)
{
uavcan::PoolAllocator<uavcan::MemPoolBlockSize * 8, uavcan::MemPoolBlockSize> pool;
uavcan::PoolManager<1> poolmgr;
poolmgr.addPool(&pool);
SystemClockDriver clock_driver;
CanDriverMock can_driver(2, clock_driver);
uavcan::OutgoingTransferRegistry<8> out_trans_reg(poolmgr);
uavcan::Scheduler sch(can_driver, poolmgr, clock_driver, out_trans_reg);
sch.getDispatcher().setNodeID(1);
TestNode node(can_driver, clock_driver, 1);
/*
* Registration
@@ -42,23 +35,23 @@ TEST(Scheduler, Timers)
{
TimerCallCounter tcc;
uavcan::TimerEventForwarder<TimerCallCounter::Binder>
a(sch, TimerCallCounter::Binder(&tcc, &TimerCallCounter::callA));
a(node, TimerCallCounter::Binder(&tcc, &TimerCallCounter::callA));
uavcan::TimerEventForwarder<TimerCallCounter::Binder>
b(sch, TimerCallCounter::Binder(&tcc, &TimerCallCounter::callB));
b(node, TimerCallCounter::Binder(&tcc, &TimerCallCounter::callB));
ASSERT_EQ(0, sch.getDeadlineScheduler().getNumHandlers());
ASSERT_EQ(0, node.getScheduler().getDeadlineScheduler().getNumHandlers());
const uavcan::MonotonicTime start_ts = clock_driver.getMonotonic();
a.startOneShotWithDeadline(start_ts + durMono(100000));
b.startPeriodic(durMono(1000));
ASSERT_EQ(2, sch.getDeadlineScheduler().getNumHandlers());
ASSERT_EQ(2, node.getScheduler().getDeadlineScheduler().getNumHandlers());
/*
* Spinning
*/
ASSERT_EQ(0, sch.spin(start_ts + durMono(1000000)));
ASSERT_EQ(0, node.spin(start_ts + durMono(1000000)));
ASSERT_EQ(1, tcc.events_a.size());
ASSERT_TRUE(areTimestampsClose(tcc.events_a[0].scheduled_time, start_ts + durMono(100000)));
@@ -79,7 +72,7 @@ TEST(Scheduler, Timers)
/*
* Deinitialization
*/
ASSERT_EQ(1, sch.getDeadlineScheduler().getNumHandlers());
ASSERT_EQ(1, node.getScheduler().getDeadlineScheduler().getNumHandlers());
ASSERT_FALSE(a.isRunning());
ASSERT_EQ(uavcan::MonotonicDuration::getInfinite(), a.getPeriod());
@@ -88,6 +81,6 @@ TEST(Scheduler, Timers)
ASSERT_EQ(1000, b.getPeriod().toUSec());
}
ASSERT_EQ(0, sch.getDeadlineScheduler().getNumHandlers()); // Both timers were destroyed now
ASSERT_EQ(0, sch.spin(clock_driver.getMonotonic() + durMono(1000))); // Spin some more without timers
ASSERT_EQ(0, node.getScheduler().getDeadlineScheduler().getNumHandlers()); // Both timers were destroyed now
ASSERT_EQ(0, node.spin(durMono(1000))); // Spin some more without timers
}