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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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libuavcan_drivers/linux/apps/test_multithreading.cpp
+4 -11
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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());
libuavcan_drivers/linux/apps/uavcan_dynamic_node_id_server.cpp
+7 -17
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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;
libuavcan_drivers/linux/apps/uavcan_monitor.cpp
+2 -3
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@@ -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;
}
libuavcan_drivers/linux/apps/uavcan_nodetool.cpp
+3 -4
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@@ -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;
}