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Partially implemented and fixed ServiceClient<>, 7 tests are failing

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This commit is contained in:
Pavel Kirienko 2015-05-16 14:19:48 +03:00
parent 40e68d4103
commit b2b7693ee6
1 changed files with 17 additions and 34 deletions
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51
libuavcan/include/uavcan/node/service_client.hpp
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@ -222,10 +222,8 @@ private:
TransferListenerType;
typedef GenericSubscriber<DataType, ResponseType, TransferListenerType> SubscriberType;
#if 0
typedef Multiset<CallState, NumStaticCalls> CallRegistry;
CallRegistry call_registry_;
#endif
PublisherType publisher_;
Callback callback_;
@ -247,6 +245,7 @@ public:
*/
explicit ServiceClient(INode& node, const Callback& callback = Callback())
: SubscriberType(node)
, call_registry_(node.getAllocator())
, publisher_(node, getDefaultRequestTimeout())
, callback_(callback)
{
@ -300,15 +299,15 @@ public:
const Callback& getCallback() const { return callback_; }
void setCallback(const Callback& cb) { callback_ = cb; }
#if 0
/**
* Complexity is O(N) of number of pending calls.
*/
unsigned getNumPendingCalls() const { return call_registry_.getSize(); }
#endif
#if 0
/**
* Complexity is O(1).
*/
bool hasPendingCalls() const { return !call_registry_.isEmpty(); }
#else
bool hasPendingCalls() const { return false; }
#endif
/**
* Returns the number of failed attempts to decode received response. Generally, a failed attempt means either:
@ -353,13 +352,9 @@ bool ServiceClient<DataType_, Callback_, NumStaticCalls_>::shouldAcceptFrame(con
{
UAVCAN_ASSERT(frame.getTransferType() == TransferTypeServiceResponse); // Other types filtered out by dispatcher
#if 0
return call_registry_.findFirst(CallStateMatchingPredicate(ServiceCallID(frame.getSrcNodeID(),
frame.getTransferID()))) != NULL;
#else
(void)frame;
return false;
#endif
return NULL != call_registry_.find(CallStateMatchingPredicate(ServiceCallID(frame.getSrcNodeID(),
frame.getTransferID())));
}
template <typename DataType_, typename Callback_, unsigned NumStaticCalls_>
@ -387,7 +382,6 @@ void ServiceClient<DataType_, Callback_, NumStaticCalls_>::handleTimeout(Service
template <typename DataType_, typename Callback_, unsigned NumStaticCalls_>
int ServiceClient<DataType_, Callback_, NumStaticCalls_>::addCallState(ServiceCallID call_id)
{
#if 0
if (call_registry_.isEmpty())
{
const int subscriber_res = SubscriberType::startAsServiceResponseListener();
@ -398,30 +392,25 @@ int ServiceClient<DataType_, Callback_, NumStaticCalls_>::addCallState(ServiceCa
}
}
if (call_registry_.add(CallState(SubscriberType::getNode(), *this, call_id)) == NULL)
if (NULL == call_registry_.template emplace<INode&, ServiceClientBase&, ServiceCallID>(SubscriberType::getNode(),
*this, call_id))
{
SubscriberType::stop();
return -ErrMemory;
}
return 0;
#else
(void)call_id;
return -ErrNotInited;
#endif
}
template <typename DataType_, typename Callback_, unsigned NumStaticCalls_>
int ServiceClient<DataType_, Callback_, NumStaticCalls_>::call(NodeID server_node_id,
const RequestType& request)
int ServiceClient<DataType_, Callback_, NumStaticCalls_>::call(NodeID server_node_id, const RequestType& request)
{
ServiceCallID dummy;
return call(server_node_id, request, dummy);
}
template <typename DataType_, typename Callback_, unsigned NumStaticCalls_>
int ServiceClient<DataType_, Callback_, NumStaticCalls_>::call(NodeID server_node_id,
const RequestType& request,
int ServiceClient<DataType_, Callback_, NumStaticCalls_>::call(NodeID server_node_id, const RequestType& request,
ServiceCallID& out_call_id)
{
if (!try_implicit_cast<bool>(callback_, true))
@ -475,29 +464,23 @@ int ServiceClient<DataType_, Callback_, NumStaticCalls_>::call(NodeID server_nod
return publisher_res;
}
return 0;
return publisher_res;
}
template <typename DataType_, typename Callback_, unsigned NumStaticCalls_>
void ServiceClient<DataType_, Callback_, NumStaticCalls_>::cancel(ServiceCallID call_id)
{
#if 0
call_registry_.remove(call_id);
call_registry_.removeFirstWhere(CallStateMatchingPredicate(call_id));
if (call_registry_.isEmpty())
{
SubscriberType::stop();
}
#else
(void)call_id;
#endif
}
template <typename DataType_, typename Callback_, unsigned NumStaticCalls_>
void ServiceClient<DataType_, Callback_, NumStaticCalls_>::cancelAll()
{
#if 0
call_registry_.removeAll();
#endif
call_registry_.clear();
SubscriberType::stop();
}