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/abstract_server.hpp

@@ -0,0 +1,68 @@
+/*
+ * Copyright (C) 2015 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#ifndef UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_SERVER_SERVER_HPP_INCLUDED
+#define UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_SERVER_SERVER_HPP_INCLUDED
+
+#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/event.hpp>
+
+namespace uavcan
+{
+namespace dynamic_node_id_server
+{
+
+class AbstractServer : protected IAllocationRequestHandler
+                     , protected INodeDiscoveryHandler
+{
+    UniqueID own_unique_id_;
+
+protected:
+    INode& node_;
+    IEventTracer& tracer_;
+    AllocationRequestManager allocation_request_manager_;
+    NodeDiscoverer node_discoverer_;
+
+    AbstractServer(INode& node,
+                   IEventTracer& tracer) :
+       node_(node),
+       tracer_(tracer),
+       allocation_request_manager_(node, tracer, *this),
+       node_discoverer_(node, tracer, *this)
+    { }
+
+    const UniqueID& getOwnUniqueID() const { return own_unique_id_; }
+
+    int init(const UniqueID& own_unique_id, const TransferPriority priority)
+    {
+        int res = 0;
+
+        own_unique_id_ = own_unique_id;
+
+        res = allocation_request_manager_.init(priority);
+        if (res < 0)
+        {
+            return res;
+        }
+
+        res = node_discoverer_.init(priority);
+        if (res < 0)
+        {
+            return res;
+        }
+
+        return 0;
+    }
+
+public:
+    const NodeDiscoverer& getNodeDiscoverer() const { return node_discoverer_; }
+};
+
+}
+}
+
+#endif // Include guard

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/abstract_server.hpp>
-#include <uavcan/protocol/dynamic_node_id_server/node_discoverer.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
+class Server : public AbstractServer
-             , INodeDiscoveryHandler
 {
-    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)
+        : AbstractServer(node, tracer)
-        , tracer_(tracer)
-        , allocation_request_manager_(node, tracer, *this)
-        , node_discoverer_(node, tracer, *this)
         , 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;
     }
 

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

@@ -9,9 +9,8 @@
 #include <uavcan/debug.hpp>
 #include <uavcan/protocol/dynamic_node_id_server/distributed/types.hpp>
 #include <uavcan/protocol/dynamic_node_id_server/distributed/raft_core.hpp>
-#include <uavcan/protocol/dynamic_node_id_server/allocation_request_manager.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/node_discoverer.hpp>
 #include <uavcan/protocol/dynamic_node_id_server/event.hpp>
 
 namespace uavcan
@@ -23,8 +22,7 @@ namespace distributed
 /**
  * This class implements the top-level allocation logic and server API.
  */
-class UAVCAN_EXPORT Server : IAllocationRequestHandler
+class UAVCAN_EXPORT Server : public AbstractServer
-                           , INodeDiscoveryHandler
                            , IRaftLeaderMonitor
 {
     struct UniqueIDLogPredicate
@@ -55,19 +53,10 @@ class UAVCAN_EXPORT Server : IAllocationRequestHandler
         }
     };
 
-    /*
-     * Constants
-     */
-    UniqueID own_unique_id_;
-
     /*
      * States
      */
-    INode& node_;
-    IEventTracer& tracer_;
     RaftCore raft_core_;
-    AllocationRequestManager allocation_request_manager_;
-    NodeDiscoverer node_discoverer_;
 
     /*
      * Methods of IAllocationRequestHandler
@@ -196,7 +185,7 @@ class UAVCAN_EXPORT Server : IAllocationRequestHandler
 
         if (!result.isConstructed())
         {
-            raft_core_.appendLog(own_unique_id_, node_.getNodeID());
+            raft_core_.appendLog(getOwnUniqueID(), node_.getNodeID());
         }
     }
 
@@ -239,11 +228,8 @@ public:
     Server(INode& node,
            IStorageBackend& storage,
            IEventTracer& tracer)
-        : node_(node)
+        : AbstractServer(node, tracer)
-        , tracer_(tracer)
         , raft_core_(node, storage, tracer, *this)
-        , allocation_request_manager_(node, tracer, *this)
-        , node_discoverer_(node, tracer, *this)
     { }
 
     int init(const UniqueID& own_unique_id,
@@ -259,37 +245,29 @@ 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 LazyConstructor<RaftCore::LogEntryInfo> own_log_entry =
             raft_core_.traverseLogFromEndUntil(NodeIDLogPredicate(node_.getNodeID()));
 
         if (own_log_entry.isConstructed())
         {
-            if (own_log_entry->entry.unique_id != own_unique_id_)
+            if (own_log_entry->entry.unique_id != getOwnUniqueID())
             {
                 return -ErrInvalidConfiguration;
             }
         }
 
-        /*
-         * Misc
-         */
-        res = allocation_request_manager_.init(priority);
-        if (res < 0)
-        {
-            return res;
-        }
-
-        res = node_discoverer_.init(priority);
-        if (res < 0)
-        {
-            return res;
-        }
-
         return 0;
     }
 
@@ -299,7 +277,6 @@ public:
      * These accessors are needed for debugging, visualization and testing.
      */
     const RaftCore& getRaftCore() const { return raft_core_; }
-    const NodeDiscoverer& getNodeDiscoverer() const { return node_discoverer_; }
 };
 
 /**