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Very basic implementation of DynamicNodeIDAllocationServer - not all logic is implemented yet, but it can be used for testing already

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Pavel Kirienko
2015-05-08 21:00:17 +03:00
parent 618e4c766a
commit aca9fcb12c
3 changed files with 71 additions and 3 deletions
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libuavcan/include/uavcan/protocol/dynamic_node_id_allocation_server.hpp
+32 -3
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@@ -735,27 +735,56 @@ public:
} // namespace dynamic_node_id_server_impl
/**
*
* This class implements the top-level allocation logic and server API.
*/
class DynamicNodeIDAllocationServer
class DynamicNodeIDAllocationServer : public dynamic_node_id_server_impl::IAllocationRequestHandler
, public dynamic_node_id_server_impl::ILeaderLogCommitHandler
{
typedef MethodBinder<DynamicNodeIDAllocationServer*,
void (DynamicNodeIDAllocationServer::*)
(const ReceivedDataStructure<protocol::NodeStatus>&)> NodeStatusCallback;
typedef MethodBinder<DynamicNodeIDAllocationServer*,
void (DynamicNodeIDAllocationServer::*)(const ServiceCallResult<protocol::GetNodeInfo>&)>
GetNodeInfoResponseCallback;
typedef Map<NodeID, uint8_t, 10> PendingGetNodeInfoAttemptsMap;
enum { MaxGetNodeInfoAttempts = 5 };
/*
* States
*/
PendingGetNodeInfoAttemptsMap pending_get_node_info_attempts_;
dynamic_node_id_server_impl::RaftCore raft_core_;
dynamic_node_id_server_impl::AllocationRequestManager allocation_request_manager_;
/*
* Transport
*/
Subscriber<protocol::NodeStatus, NodeStatusCallback> node_status_sub_;
ServiceClient<protocol::GetNodeInfo> get_node_info_client_;
INode& getNode() { return get_node_info_client_.getNode(); }
virtual void handleAllocationRequest(const UniqueID& unique_id, NodeID preferred_node_id);
virtual void onEntryCommitted(const protocol::dynamic_node_id::server::Entry& entry);
public:
DynamicNodeIDAllocationServer(INode& node,
IDynamicNodeIDStorageBackend& storage,
IDynamicNodeIDAllocationServerEventTracer& tracer)
: pending_get_node_info_attempts_(node.getAllocator())
, raft_core_(node, storage, tracer, *this)
, allocation_request_manager_(node, *this)
, node_status_sub_(node)
, get_node_info_client_(node)
{ }
enum { ClusterSizeUnknown = dynamic_node_id_server_impl::ClusterManager::ClusterSizeUnknown };
int init(uint8_t cluster_size = ClusterSizeUnknown);
};
}