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Cleaner type definitions in Linux driver

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This commit is contained in:
Pavel Kirienko
2015-06-09 22:58:00 +03:00
parent 44b84ea5cb
commit 9ac2813cea
1 changed files with 27 additions and 15 deletions
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libuavcan_drivers/linux/include/uavcan_linux/helpers.hpp
+27 -15
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@@ -143,8 +143,24 @@ struct DriverPack
typedef std::shared_ptr<DriverPack> DriverPackPtr;
typedef std::shared_ptr<uavcan::INode> INodePtr;
typedef std::shared_ptr<uavcan::Timer> TimerPtr;
template <typename T>
using SubscriberPtr = std::shared_ptr<uavcan::Subscriber<T>>;
template <typename T>
using PublisherPtr = std::shared_ptr<uavcan::Publisher<T>>;
template <typename T>
using ServiceServerPtr = std::shared_ptr<uavcan::ServiceServer<T>>;
template <typename T>
using ServiceClientPtr = std::shared_ptr<uavcan::ServiceClient<T>>;
template <typename T>
using BlockingServiceClientPtr = std::shared_ptr<BlockingServiceClient<T>>;
static constexpr std::size_t NodeMemPoolSize = 1024 * 512; ///< This shall be enough for any possible use case
/**
@@ -194,10 +210,9 @@ public:
* @throws uavcan_linux::Exception.
*/
template <typename DataType>
std::shared_ptr<uavcan::Subscriber<DataType>>
makeSubscriber(const typename uavcan::Subscriber<DataType>::Callback& cb)
SubscriberPtr<DataType> makeSubscriber(const typename uavcan::Subscriber<DataType>::Callback& cb)
{
std::shared_ptr<uavcan::Subscriber<DataType>> p(new uavcan::Subscriber<DataType>(*this));
SubscriberPtr<DataType> p(new uavcan::Subscriber<DataType>(*this));
enforce(p->start(cb), "Subscriber start failure " + getDataTypeName<DataType>());
return p;
}
@@ -208,10 +223,10 @@ public:
* @throws uavcan_linux::Exception.
*/
template <typename DataType>
std::shared_ptr<uavcan::Publisher<DataType>>
makePublisher(uavcan::MonotonicDuration tx_timeout = uavcan::Publisher<DataType>::getDefaultTxTimeout())
PublisherPtr<DataType> makePublisher(uavcan::MonotonicDuration tx_timeout =
uavcan::Publisher<DataType>::getDefaultTxTimeout())
{
std::shared_ptr<uavcan::Publisher<DataType>> p(new uavcan::Publisher<DataType>(*this));
PublisherPtr<DataType> p(new uavcan::Publisher<DataType>(*this));
enforce(p->init(), "Publisher init failure " + getDataTypeName<DataType>());
p->setTxTimeout(tx_timeout);
return p;
@@ -223,10 +238,9 @@ public:
* @throws uavcan_linux::Exception.
*/
template <typename DataType>
std::shared_ptr<uavcan::ServiceServer<DataType>>
makeServiceServer(const typename uavcan::ServiceServer<DataType>::Callback& cb)
ServiceServerPtr<DataType> makeServiceServer(const typename uavcan::ServiceServer<DataType>::Callback& cb)
{
std::shared_ptr<uavcan::ServiceServer<DataType>> p(new uavcan::ServiceServer<DataType>(*this));
ServiceServerPtr<DataType> p(new uavcan::ServiceServer<DataType>(*this));
enforce(p->start(cb), "ServiceServer start failure " + getDataTypeName<DataType>());
return p;
}
@@ -237,10 +251,9 @@ public:
* @throws uavcan_linux::Exception.
*/
template <typename DataType>
std::shared_ptr<uavcan::ServiceClient<DataType>>
makeServiceClient(const typename uavcan::ServiceClient<DataType>::Callback& cb)
ServiceClientPtr<DataType> makeServiceClient(const typename uavcan::ServiceClient<DataType>::Callback& cb)
{
std::shared_ptr<uavcan::ServiceClient<DataType>> p(new uavcan::ServiceClient<DataType>(*this));
ServiceClientPtr<DataType> p(new uavcan::ServiceClient<DataType>(*this));
enforce(p->init(), "ServiceClient init failure " + getDataTypeName<DataType>());
p->setCallback(cb);
return p;
@@ -252,10 +265,9 @@ public:
* @throws uavcan_linux::Exception.
*/
template <typename DataType>
std::shared_ptr<BlockingServiceClient<DataType>>
makeBlockingServiceClient()
BlockingServiceClientPtr<DataType> makeBlockingServiceClient()
{
std::shared_ptr<BlockingServiceClient<DataType>> p(new BlockingServiceClient<DataType>(*this));
BlockingServiceClientPtr<DataType> p(new BlockingServiceClient<DataType>(*this));
enforce(p->init(), "BlockingServiceClient init failure " + getDataTypeName<DataType>());
return p;
}