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Transfer buffering system detemplatized; compiles but tests are failing

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This commit is contained in:
Pavel Kirienko
2015-10-14 19:59:04 +03:00
parent 763e96b6ed
commit a9fdf44fa9
20 changed files with 335 additions and 510 deletions
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libuavcan/include/uavcan/node/generic_subscriber.hpp
+20 -29
View File
@@ -100,9 +100,9 @@ protected:
~GenericSubscriberBase() { }
int genericStart(TransferListenerBase* listener, bool (Dispatcher::*registration_method)(TransferListenerBase*));
int genericStart(TransferListener* listener, bool (Dispatcher::*registration_method)(TransferListener*));
void stop(TransferListenerBase* listener);
void stop(TransferListener* listener);
public:
/**
@@ -115,22 +115,6 @@ public:
INode& getNode() const { return node_; }
};
/**
* This helper class does some compile-time magic on the transport layer machinery. For authorized personnel only.
*/
template <typename DataStruct_,
template<unsigned> class TransferListenerTemplate = TransferListener
>
class UAVCAN_EXPORT TransferListenerInstantiationHelper
{
enum { DataTypeMaxByteLen = BitLenToByteLen<DataStruct_::MaxBitLen>::Result };
enum { NeedsBuffer = int(DataTypeMaxByteLen) > int(GuaranteedPayloadLenPerFrame) };
enum { BufferSize = NeedsBuffer ? DataTypeMaxByteLen : 0 };
public:
typedef TransferListenerTemplate<BufferSize> Type;
};
/**
* Please note that the reference passed to the RX callback points to a stack-allocated object, which means
* that it gets invalidated shortly after the callback returns.
@@ -151,9 +135,15 @@ class UAVCAN_EXPORT GenericSubscriber : public GenericSubscriberBase
}
public:
TransferForwarder(SelfType& obj, const DataTypeDescriptor& data_type, IPoolAllocator& allocator)
: TransferListenerType(obj.node_.getDispatcher().getTransferPerfCounter(), data_type, allocator)
, obj_(obj)
TransferForwarder(SelfType& obj,
const DataTypeDescriptor& data_type,
uint16_t max_buffer_size,
IPoolAllocator& allocator) :
TransferListenerType(obj.node_.getDispatcher().getTransferPerfCounter(),
data_type,
max_buffer_size,
allocator),
obj_(obj)
{ }
};
@@ -163,20 +153,19 @@ class UAVCAN_EXPORT GenericSubscriber : public GenericSubscriberBase
void handleIncomingTransfer(IncomingTransfer& transfer);
int genericStart(bool (Dispatcher::*registration_method)(TransferListenerBase*));
int genericStart(bool (Dispatcher::*registration_method)(TransferListener*));
protected:
struct ReceivedDataStructureSpec : public ReceivedDataStructure<DataStruct>
{
ReceivedDataStructureSpec() { }
ReceivedDataStructureSpec(const IncomingTransfer* arg_transfer)
: ReceivedDataStructure<DataStruct>(arg_transfer)
ReceivedDataStructureSpec(const IncomingTransfer* arg_transfer) :
ReceivedDataStructure<DataStruct>(arg_transfer)
{ }
};
explicit GenericSubscriber(INode& node)
: GenericSubscriberBase(node)
explicit GenericSubscriber(INode& node) : GenericSubscriberBase(node)
{ }
virtual ~GenericSubscriber() { stop(); }
@@ -247,8 +236,10 @@ int GenericSubscriber<DataSpec, DataStruct, TransferListenerType>::checkInit()
return -ErrUnknownDataType;
}
forwarder_.template construct<SelfType&, const DataTypeDescriptor&, IPoolAllocator&>
(*this, *descr, node_.getAllocator());
static const uint16_t MaxBufferSize = BitLenToByteLen<DataStruct::MaxBitLen>::Result;
forwarder_.template construct<SelfType&, const DataTypeDescriptor&, uint16_t, IPoolAllocator&>
(*this, *descr, MaxBufferSize, node_.getAllocator());
return 0;
}
@@ -286,7 +277,7 @@ void GenericSubscriber<DataSpec, DataStruct, TransferListenerType>::handleIncomi
template <typename DataSpec, typename DataStruct, typename TransferListenerType>
int GenericSubscriber<DataSpec, DataStruct, TransferListenerType>::
genericStart(bool (Dispatcher::*registration_method)(TransferListenerBase*))
genericStart(bool (Dispatcher::*registration_method)(TransferListener*))
{
const int res = checkInit();
if (res < 0)