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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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libuavcan/src/transport/dispatcher.cpp
+28
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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())