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First stab at global refactoring of memory management - the library builds, but unit tests are failing horribly

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This commit is contained in:
Pavel Kirienko
2015-10-14 08:29:50 +03:00
parent 0643879922
commit be84897ed6
33 changed files with 203 additions and 756 deletions
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libuavcan/include/uavcan/node/service_client.hpp
+30 -42
View File
@@ -21,13 +21,11 @@
namespace uavcan
{
template <typename ServiceDataType, unsigned NumStaticReceiversAndBuffers>
template <typename ServiceDataType>
class UAVCAN_EXPORT ServiceResponseTransferListenerInstantiationHelper
{
public: // so much templating it hurts
public:
typedef typename TransferListenerInstantiationHelper<typename ServiceDataType::Response,
NumStaticReceiversAndBuffers,
NumStaticReceiversAndBuffers,
TransferListenerWithFilter>::Type Type;
};
@@ -217,24 +215,18 @@ public:
* In C++11 mode this type defaults to std::function<>.
* In C++03 mode this type defaults to a plain function pointer; use binder to
* call member functions as callbacks.
*
* @tparam NumStaticCalls_ Number of concurrent calls that the class will be able to handle without using the
* memory pool. Note that this is NOT the maximum possible number of concurrent calls,
* there's no such limit. Defaults to one.
*/
template <typename DataType_,
#if UAVCAN_CPP_VERSION >= UAVCAN_CPP11
typename Callback_ = std::function<void (const ServiceCallResult<DataType_>&)>,
typename Callback_ = std::function<void (const ServiceCallResult<DataType_>&)>
#else
typename Callback_ = void (*)(const ServiceCallResult<DataType_>&),
typename Callback_ = void (*)(const ServiceCallResult<DataType_>&)
#endif
unsigned NumStaticCalls_ = 1
>
class UAVCAN_EXPORT ServiceClient
: public GenericSubscriber<DataType_,
typename DataType_::Response,
typename ServiceResponseTransferListenerInstantiationHelper<DataType_,
NumStaticCalls_>::Type>
typename ServiceResponseTransferListenerInstantiationHelper<DataType_>::Type>
, public ServiceClientBase
{
public:
@@ -244,16 +236,13 @@ public:
typedef ServiceCallResult<DataType> ServiceCallResultType;
typedef Callback_ Callback;
enum { NumStaticCalls = NumStaticCalls_ };
private:
typedef ServiceClient<DataType, Callback> SelfType;
typedef GenericPublisher<DataType, RequestType> PublisherType;
typedef typename ServiceResponseTransferListenerInstantiationHelper<DataType, NumStaticCalls>::Type
TransferListenerType;
typedef typename ServiceResponseTransferListenerInstantiationHelper<DataType>::Type TransferListenerType;
typedef GenericSubscriber<DataType, ResponseType, TransferListenerType> SubscriberType;
typedef Multiset<CallState, NumStaticCalls> CallRegistry;
typedef Multiset<CallState> CallRegistry;
struct TimeoutCallbackCaller
{
@@ -424,8 +413,8 @@ public:
// ----------------------------------------------------------------------------
template <typename DataType_, typename Callback_, unsigned NumStaticCalls_>
void ServiceClient<DataType_, Callback_, NumStaticCalls_>::invokeCallback(ServiceCallResultType& result)
template <typename DataType_, typename Callback_>
void ServiceClient<DataType_, Callback_>::invokeCallback(ServiceCallResultType& result)
{
if (coerceOrFallback<bool>(callback_, true))
{
@@ -437,8 +426,8 @@ void ServiceClient<DataType_, Callback_, NumStaticCalls_>::invokeCallback(Servic
}
}
template <typename DataType_, typename Callback_, unsigned NumStaticCalls_>
bool ServiceClient<DataType_, Callback_, NumStaticCalls_>::shouldAcceptFrame(const RxFrame& frame) const
template <typename DataType_, typename Callback_>
bool ServiceClient<DataType_, Callback_>::shouldAcceptFrame(const RxFrame& frame) const
{
UAVCAN_ASSERT(frame.getTransferType() == TransferTypeServiceResponse); // Other types filtered out by dispatcher
@@ -447,9 +436,8 @@ bool ServiceClient<DataType_, Callback_, NumStaticCalls_>::shouldAcceptFrame(con
}
template <typename DataType_, typename Callback_, unsigned NumStaticCalls_>
void ServiceClient<DataType_, Callback_, NumStaticCalls_>::
handleReceivedDataStruct(ReceivedDataStructure<ResponseType>& response)
template <typename DataType_, typename Callback_>
void ServiceClient<DataType_, Callback_>::handleReceivedDataStruct(ReceivedDataStructure<ResponseType>& response)
{
UAVCAN_ASSERT(response.getTransferType() == TransferTypeServiceResponse);
@@ -460,8 +448,8 @@ handleReceivedDataStruct(ReceivedDataStructure<ResponseType>& response)
}
template <typename DataType_, typename Callback_, unsigned NumStaticCalls_>
void ServiceClient<DataType_, Callback_, NumStaticCalls_>::handleDeadline(MonotonicTime)
template <typename DataType_, typename Callback_>
void ServiceClient<DataType_, Callback_>::handleDeadline(MonotonicTime)
{
UAVCAN_TRACE("ServiceClient", "Shared deadline event received");
/*
@@ -484,8 +472,8 @@ void ServiceClient<DataType_, Callback_, NumStaticCalls_>::handleDeadline(Monoto
}
}
template <typename DataType_, typename Callback_, unsigned NumStaticCalls_>
int ServiceClient<DataType_, Callback_, NumStaticCalls_>::addCallState(ServiceCallID call_id)
template <typename DataType_, typename Callback_>
int ServiceClient<DataType_, Callback_>::addCallState(ServiceCallID call_id)
{
if (call_registry_.isEmpty())
{
@@ -507,16 +495,16 @@ int ServiceClient<DataType_, Callback_, NumStaticCalls_>::addCallState(ServiceCa
return 0;
}
template <typename DataType_, typename Callback_, unsigned NumStaticCalls_>
int ServiceClient<DataType_, Callback_, NumStaticCalls_>::call(NodeID server_node_id, const RequestType& request)
template <typename DataType_, typename Callback_>
int ServiceClient<DataType_, Callback_>::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,
ServiceCallID& out_call_id)
template <typename DataType_, typename Callback_>
int ServiceClient<DataType_, Callback_>::call(NodeID server_node_id, const RequestType& request,
ServiceCallID& out_call_id)
{
if (!coerceOrFallback<bool>(callback_, true))
{
@@ -573,8 +561,8 @@ int ServiceClient<DataType_, Callback_, NumStaticCalls_>::call(NodeID server_nod
return publisher_res;
}
template <typename DataType_, typename Callback_, unsigned NumStaticCalls_>
void ServiceClient<DataType_, Callback_, NumStaticCalls_>::cancelCall(ServiceCallID call_id)
template <typename DataType_, typename Callback_>
void ServiceClient<DataType_, Callback_>::cancelCall(ServiceCallID call_id)
{
call_registry_.removeFirstWhere(CallStateMatchingPredicate(call_id));
if (call_registry_.isEmpty())
@@ -583,21 +571,21 @@ void ServiceClient<DataType_, Callback_, NumStaticCalls_>::cancelCall(ServiceCal
}
}
template <typename DataType_, typename Callback_, unsigned NumStaticCalls_>
void ServiceClient<DataType_, Callback_, NumStaticCalls_>::cancelAllCalls()
template <typename DataType_, typename Callback_>
void ServiceClient<DataType_, Callback_>::cancelAllCalls()
{
call_registry_.clear();
SubscriberType::stop();
}
template <typename DataType_, typename Callback_, unsigned NumStaticCalls_>
bool ServiceClient<DataType_, Callback_, NumStaticCalls_>::hasPendingCallToServer(NodeID server_node_id) const
template <typename DataType_, typename Callback_>
bool ServiceClient<DataType_, Callback_>::hasPendingCallToServer(NodeID server_node_id) const
{
return NULL != call_registry_.find(ServerSearchPredicate(server_node_id));
}
template <typename DataType_, typename Callback_, unsigned NumStaticCalls_>
ServiceCallID ServiceClient<DataType_, Callback_, NumStaticCalls_>::getCallIDByIndex(unsigned index) const
template <typename DataType_, typename Callback_>
ServiceCallID ServiceClient<DataType_, Callback_>::getCallIDByIndex(unsigned index) const
{
const CallState* const id = call_registry_.getByIndex(index);
return (id == NULL) ? ServiceCallID() : id->getCallID();