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Added Dispatcher type usage methods: hasPublisher(), hasSubscriber(), hasServer()

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This commit is contained in:
Pavel Kirienko 2014-03-18 15:33:31 +04:00
parent c9b284a2d7
commit aeee4b9e37
3 changed files with 62 additions and 1 deletions
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5
libuavcan/include/uavcan/transport/dispatcher.hpp
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@ -41,6 +41,7 @@ class Dispatcher : Noncopyable
bool add(TransferListenerBase* listener, Mode mode);
void remove(TransferListenerBase* listener);
bool exists(DataTypeID dtid) const;
void cleanup(MonotonicTime ts);
void handleFrame(const RxFrame& frame);
@ -79,6 +80,10 @@ public:
void unregisterServiceRequestListener(TransferListenerBase* listener);
void unregisterServiceResponseListener(TransferListenerBase* listener);
bool hasSubscriber(DataTypeID dtid) const;
bool hasPublisher(DataTypeID dtid) const;
bool hasServer(DataTypeID dtid) const;
int getNumMessageListeners() const { return lmsg_.getNumEntries(); }
int getNumServiceRequestListeners() const { return lsrv_req_.getNumEntries(); }
int getNumServiceResponseListeners() const { return lsrv_resp_.getNumEntries(); }

28
libuavcan/src/transport/dispatcher.cpp
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@ -33,6 +33,18 @@ void Dispatcher::ListenerRegister::remove(TransferListenerBase* listener)
list_.remove(listener);
}
bool Dispatcher::ListenerRegister::exists(DataTypeID dtid) const
{
TransferListenerBase* p = list_.get();
while (p)
{
if (p->getDataTypeDescriptor().getID() == dtid)
return true;
p = p->getNextListNode();
}
return false;
}
void Dispatcher::ListenerRegister::cleanup(MonotonicTime ts)
{
TransferListenerBase* p = list_.get();
@ -188,6 +200,22 @@ void Dispatcher::unregisterServiceResponseListener(TransferListenerBase* listene
lsrv_resp_.remove(listener);
}
bool Dispatcher::hasSubscriber(DataTypeID dtid) const
{
return lmsg_.exists(dtid);
}
bool Dispatcher::hasPublisher(DataTypeID dtid) const
{
return outgoing_transfer_reg_.exists(dtid, TransferTypeMessageBroadcast)
|| outgoing_transfer_reg_.exists(dtid, TransferTypeMessageUnicast);
}
bool Dispatcher::hasServer(DataTypeID dtid) const
{
return lsrv_req_.exists(dtid);
}
bool Dispatcher::setNodeID(NodeID nid)
{
if (nid.isUnicast() && !self_node_id_.isValid())

30
libuavcan/test/transport/dispatcher.cpp
View File

@ -108,8 +108,15 @@ TEST(Dispatcher, Reception)
};
/*
* Sending the transfers
* Registration
*/
for (int i = 0; i < NUM_SUBSCRIBERS; i++)
{
ASSERT_FALSE(dispatcher.hasSubscriber(subscribers[i]->getDataTypeDescriptor().getID()));
ASSERT_FALSE(dispatcher.hasPublisher(subscribers[i]->getDataTypeDescriptor().getID()));
ASSERT_FALSE(dispatcher.hasServer(subscribers[i]->getDataTypeDescriptor().getID()));
}
ASSERT_TRUE(dispatcher.registerMessageListener(subscribers[0].get()));
ASSERT_TRUE(dispatcher.registerMessageListener(subscribers[1].get()));
ASSERT_TRUE(dispatcher.registerMessageListener(subscribers[2].get()));
@ -117,6 +124,20 @@ TEST(Dispatcher, Reception)
ASSERT_TRUE(dispatcher.registerServiceResponseListener(subscribers[4].get()));
ASSERT_TRUE(dispatcher.registerServiceResponseListener(subscribers[5].get()));
for (int i = 0; i < NUM_SUBSCRIBERS; i++)
ASSERT_FALSE(dispatcher.hasPublisher(subscribers[i]->getDataTypeDescriptor().getID()));
// Subscribers
ASSERT_TRUE(dispatcher.hasSubscriber(subscribers[0]->getDataTypeDescriptor().getID()));
ASSERT_TRUE(dispatcher.hasSubscriber(subscribers[1]->getDataTypeDescriptor().getID()));
ASSERT_TRUE(dispatcher.hasSubscriber(subscribers[2]->getDataTypeDescriptor().getID()));
// Servers
ASSERT_TRUE(dispatcher.hasServer(subscribers[3]->getDataTypeDescriptor().getID()));
/*
* Sending the transfers
*/
// Multiple service request listeners are not allowed
ASSERT_FALSE(dispatcher.registerServiceRequestListener(subscribers[3].get()));
@ -209,6 +230,13 @@ TEST(Dispatcher, Transmission)
uavcan::Frame frame(123, uavcan::TransferTypeMessageUnicast, SELF_NODE_ID, 2, 0, 0, true);
frame.setPayload(reinterpret_cast<const uint8_t*>("123"), 3);
ASSERT_FALSE(dispatcher.hasPublisher(123));
ASSERT_FALSE(dispatcher.hasPublisher(456));
const uavcan::OutgoingTransferRegistryKey otr_key(123, uavcan::TransferTypeMessageUnicast, 2);
ASSERT_TRUE(out_trans_reg.accessOrCreate(otr_key, uavcan::MonotonicTime::fromMSec(1000000)));
ASSERT_TRUE(dispatcher.hasPublisher(123));
ASSERT_FALSE(dispatcher.hasPublisher(456));
ASSERT_EQ(2, dispatcher.send(frame, TX_DEADLINE, tsMono(0), uavcan::CanTxQueue::Volatile));
/*