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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_server.hpp
+4 -19
View File
@@ -77,33 +77,19 @@ 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 NumStaticReceivers Number of statically allocated receiver objects. If there's more service
* clients for this service, extra receivers will be allocated in the memory pool.
*
* @tparam NumStaticBufs Number of statically allocated receiver buffers. If there's more concurrent
* incoming transfers, extra buffers will be allocated in the memory pool.
*/
template <typename DataType_,
#if UAVCAN_CPP_VERSION >= UAVCAN_CPP11
typename Callback_ = std::function<void (const ReceivedDataStructure<typename DataType_::Request>&,
ServiceResponseDataStructure<typename DataType_::Response>&)>,
ServiceResponseDataStructure<typename DataType_::Response>&)>
#else
typename Callback_ = void (*)(const ReceivedDataStructure<typename DataType_::Request>&,
ServiceResponseDataStructure<typename DataType_::Response>&),
#endif
#if UAVCAN_TINY
unsigned NumStaticReceivers = 0,
unsigned NumStaticBufs = 0
#else
unsigned NumStaticReceivers = 2,
unsigned NumStaticBufs = 1
ServiceResponseDataStructure<typename DataType_::Response>&)
#endif
>
class UAVCAN_EXPORT ServiceServer
: public GenericSubscriber<DataType_, typename DataType_::Request,
typename TransferListenerInstantiationHelper<typename DataType_::Request,
NumStaticReceivers, NumStaticBufs>::Type>
typename TransferListenerInstantiationHelper<typename DataType_::Request>::Type>
{
public:
typedef DataType_ DataType;
@@ -112,8 +98,7 @@ public:
typedef Callback_ Callback;
private:
typedef typename TransferListenerInstantiationHelper<RequestType, NumStaticReceivers, NumStaticBufs>::Type
TransferListenerType;
typedef typename TransferListenerInstantiationHelper<RequestType>::Type TransferListenerType;
typedef GenericSubscriber<DataType, RequestType, TransferListenerType> SubscriberType;
typedef GenericPublisher<DataType, ResponseType> PublisherType;