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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());