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Linux makeNode() helper overload

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This commit is contained in:
Pavel Kirienko 2016-06-13 00:46:13 +03:00
parent 59bcde5868
commit a19dfd56dc
6 changed files with 102 additions and 35 deletions
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15
libuavcan_drivers/linux/apps/test_multithreading.cpp
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@ -392,16 +392,9 @@ static uavcan_linux::NodePtr initMainNode(const std::vector<std::string>& ifaces
{
std::cout << "Initializing main node" << std::endl;
auto node = uavcan_linux::makeNode(ifaces);
node->setNodeID(nid);
node->setName(name.c_str());
auto node = uavcan_linux::makeNode(ifaces, name.c_str(),
uavcan::protocol::SoftwareVersion(), uavcan::protocol::HardwareVersion(), nid);
node->getLogger().setLevel(uavcan::protocol::debug::LogLevel::DEBUG);
const int start_res = node->start();
ENFORCE(0 == start_res);
node->setModeOperational();
return node;
}
@ -414,8 +407,8 @@ static uavcan_linux::SubNodePtr initSubNode(unsigned num_ifaces, uavcan::INode&
typedef VirtualCanDriver<QueuePoolSize> Driver;
std::shared_ptr<Driver> driver(new Driver(num_ifaces));
auto node = uavcan_linux::makeSubNode(driver);
node->setNodeID(main_node.getNodeID());
auto node = uavcan_linux::makeSubNode(driver, main_node.getNodeID());
main_node.getDispatcher().installRxFrameListener(driver.get());

24
libuavcan_drivers/linux/apps/uavcan_dynamic_node_id_server.cpp
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@ -32,25 +32,15 @@ constexpr int MinUpdateInterval = 100;
uavcan_linux::NodePtr initNode(const std::vector<std::string>& ifaces, uavcan::NodeID nid, const std::string& name)
{
auto node = uavcan_linux::makeNode(ifaces);
const auto app_id = uavcan_linux::makeApplicationID(uavcan_linux::MachineIDReader().read(), name, nid.get());
uavcan::protocol::HardwareVersion hwver;
std::copy(app_id.begin(), app_id.end(), hwver.unique_id.begin());
std::cout << hwver << std::endl;
auto node = uavcan_linux::makeNode(ifaces, name.c_str(), uavcan::protocol::SoftwareVersion(), hwver, nid);
node->setNodeID(nid);
node->setName(name.c_str());
node->getLogger().setLevel(uavcan::protocol::debug::LogLevel::DEBUG);
{
const auto app_id = uavcan_linux::makeApplicationID(uavcan_linux::MachineIDReader().read(), name, nid.get());
uavcan::protocol::HardwareVersion hwver;
std::copy(app_id.begin(), app_id.end(), hwver.unique_id.begin());
std::cout << hwver << std::endl;
node->setHardwareVersion(hwver);
}
const int start_res = node->start();
ENFORCE(0 == start_res);
node->setModeOperational();
return node;

5
libuavcan_drivers/linux/apps/uavcan_monitor.cpp
View File

@ -137,9 +137,8 @@ public:
static uavcan_linux::NodePtr initNodeInPassiveMode(const std::vector<std::string>& ifaces, const std::string& node_name)
{
auto node = uavcan_linux::makeNode(ifaces);
node->setName(node_name.c_str());
ENFORCE(0 == node->start());
auto node = uavcan_linux::makeNode(ifaces, node_name.c_str(),
uavcan::protocol::SoftwareVersion(), uavcan::protocol::HardwareVersion());
node->setModeOperational();
return node;
}

7
libuavcan_drivers/linux/apps/uavcan_nodetool.cpp
View File

@ -74,10 +74,9 @@ public:
uavcan_linux::NodePtr initNode(const std::vector<std::string>& ifaces, uavcan::NodeID nid, const std::string& name)
{
auto node = uavcan_linux::makeNode(ifaces);
node->setNodeID(nid);
node->setName(name.c_str());
ENFORCE(0 == node->start()); // This node doesn't check its network compatibility
auto node = uavcan_linux::makeNode(ifaces, name.c_str(),
uavcan::protocol::SoftwareVersion(), uavcan::protocol::HardwareVersion(),
nid);
node->setModeOperational();
return node;
}

22
libuavcan_drivers/linux/include/uavcan_linux/exception.hpp
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@ -35,6 +35,28 @@ public:
int getErrno() const { return errno_; }
};
/**
* This type is thrown when a Libuavcan API method exits with error.
* The error code is stored in the exception object and is avialable via @ref getLibuavcanErrorCode().
*/
class LibuavcanErrorException : public Exception
{
const std::int16_t error_;
static std::string makeErrorString(std::int16_t e)
{
return "Libuavcan error (" + std::to_string(e) + ")";
}
public:
explicit LibuavcanErrorException(std::int16_t uavcan_error_code) :
Exception(makeErrorString(uavcan_error_code)),
error_(std::abs(uavcan_error_code))
{ }
std::int16_t getLibuavcanErrorCode() const { return error_; }
};
/**
* This exception is thrown when all available interfaces become down.
*/

64
libuavcan_drivers/linux/include/uavcan_linux/helpers.hpp
View File

@ -381,6 +381,49 @@ static inline NodePtr makeNode(const std::shared_ptr<uavcan::ICanDriver>& can_dr
return NodePtr(new Node(dp));
}
/**
* This function extends the other two overloads in such a way that it instantiates and initializes
* the node immediately; if initialization fails, it throws.
*
* If NodeID is not provided, it will not be initialized, and therefore the node will be started in
* listen-only (i.e. silent) mode. The node can be switched to normal (i.e. non-silent) mode at any
* later time by calling setNodeID() explicitly. Read the Node class docs for more info.
*
* Clock adjustment mode will be detected automatically unless provided explicitly.
*
* @throws uavcan_linux::Exception, uavcan_linux::LibuavcanErrorException.
*/
template <typename DriverType>
static inline NodePtr makeNode(const DriverType& driver,
const uavcan::NodeStatusProvider::NodeName& name,
const uavcan::protocol::SoftwareVersion& software_version,
const uavcan::protocol::HardwareVersion& hardware_version,
const uavcan::NodeID node_id = uavcan::NodeID(),
const uavcan::TransferPriority node_status_transfer_priority =
uavcan::TransferPriority::Default,
ClockAdjustmentMode clock_adjustment_mode =
SystemClock::detectPreferredClockAdjustmentMode())
{
NodePtr node = makeNode(driver, clock_adjustment_mode);
node->setName(name);
node->setSoftwareVersion(software_version);
node->setHardwareVersion(hardware_version);
if (node_id.isValid())
{
node->setNodeID(node_id);
}
const auto res = node->start(node_status_transfer_priority);
if (res < 0)
{
throw LibuavcanErrorException(res);
}
return node;
}
/**
* Use this function to create a sub-node instance with default SocketCAN driver.
* It accepts the list of interface names to use for the new node, e.g. "can1", "vcan2", "slcan0".
@ -408,4 +451,25 @@ static inline SubNodePtr makeSubNode(const std::shared_ptr<uavcan::ICanDriver>&
return SubNodePtr(new SubNode(dp));
}
/**
* This function extends the other two overloads in such a way that it instantiates the node
* and sets its Node ID immediately.
*
* Clock adjustment mode will be detected automatically unless provided explicitly.
*
* @throws uavcan_linux::Exception, uavcan_linux::LibuavcanErrorException.
*/
template <typename DriverType>
static inline SubNodePtr makeSubNode(const DriverType& driver,
const uavcan::NodeID node_id,
const uavcan::TransferPriority node_status_transfer_priority =
uavcan::TransferPriority::Default,
ClockAdjustmentMode clock_adjustment_mode =
SystemClock::detectPreferredClockAdjustmentMode())
{
SubNodePtr sub_node = makeSubNode(driver, clock_adjustment_mode);
sub_node->setNodeID(node_id);
return sub_node;
}
}