Refactored the dynamic node ID allocation server: added a new class AbstractServer, which is inherited by CentralizedServer and DistributedServer. This change allowed to move the data and logic that is common to both types of servers to a single location. In the next step this will be used to add more complex common logic.

libuavcan/include/uavcan/protocol/dynamic_node_id_server/centralized/server.hpp

@@ -7,8 +7,7 @@
 
 #include <uavcan/build_config.hpp>
 #include <uavcan/debug.hpp>
-#include <uavcan/protocol/dynamic_node_id_server/allocation_request_manager.hpp>
-#include <uavcan/protocol/dynamic_node_id_server/node_discoverer.hpp>
+#include <uavcan/protocol/dynamic_node_id_server/abstract_server.hpp>
 #include <uavcan/protocol/dynamic_node_id_server/node_id_selector.hpp>
 #include <uavcan/protocol/dynamic_node_id_server/storage_marshaller.hpp>
 #include <uavcan/protocol/dynamic_node_id_server/centralized/storage.hpp>
@@ -26,15 +25,8 @@ namespace centralized
  *
  * This version is suitable only for simple non-critical systems.
  */
-class Server : IAllocationRequestHandler
-             , INodeDiscoveryHandler
+class Server : public AbstractServer
 {
-    UniqueID own_unique_id_;
-
-    INode& node_;
-    IEventTracer& tracer_;
-    AllocationRequestManager allocation_request_manager_;
-    NodeDiscoverer node_discoverer_;
     Storage storage_;
 
     /*
@@ -128,10 +120,7 @@ public:
     Server(INode& node,
            IStorageBackend& storage,
            IEventTracer& tracer)
-        : node_(node)
-        , tracer_(tracer)
-        , allocation_request_manager_(node, tracer, *this)
-        , node_discoverer_(node, tracer, *this)
+        : AbstractServer(node, tracer)
         , storage_(storage)
     { }
 
@@ -147,13 +136,20 @@ public:
             return res;
         }
 
+        /*
+         * Common logic
+         */
+        res = AbstractServer::init(own_unique_id, priority);
+        if (res < 0)
+        {
+            return res;
+        }
+
         /*
          * Making sure that the server is started with the same node ID
          */
-        own_unique_id_ = own_unique_id;
-
         {
-            const NodeID stored_own_node_id = storage_.getNodeIDForUniqueID(own_unique_id_);
+            const NodeID stored_own_node_id = storage_.getNodeIDForUniqueID(getOwnUniqueID());
             if (stored_own_node_id.isValid())
             {
                 if (stored_own_node_id != node_.getNodeID())
@@ -163,7 +159,7 @@ public:
             }
             else
             {
-                res = storage_.add(node_.getNodeID(), own_unique_id_);
+                res = storage_.add(node_.getNodeID(), getOwnUniqueID());
                 if (res < 0)
                 {
                     return res;
@@ -171,21 +167,6 @@ public:
             }
         }
 
-        /*
-         * Misc
-         */
-        res = allocation_request_manager_.init(priority);
-        if (res < 0)
-        {
-            return res;
-        }
-
-        res = node_discoverer_.init(priority);
-        if (res < 0)
-        {
-            return res;
-        }
-
         return 0;
     }