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Node info retriever - timer event optimization

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This commit is contained in:
Pavel Kirienko 2015-05-17 16:34:04 +03:00
parent 600c29a953
commit c089f4d72b
1 changed files with 19 additions and 17 deletions
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36
libuavcan/include/uavcan/protocol/node_info_retriever.hpp
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@ -200,8 +200,10 @@ private:
}
}
NodeID pickNextNodeToQuery() const
NodeID pickNextNodeToQuery(bool& out_at_least_one_request_needed) const
{
out_at_least_one_request_needed = false;
for (unsigned iter_cnt_ = 0; iter_cnt_ < (sizeof(entries_) / sizeof(entries_[0])); iter_cnt_++) // Round-robin
{
last_picked_node_++;
@ -213,22 +215,31 @@ private:
(last_picked_node_ <= NodeID::Max));
const Entry& entry = getEntry(last_picked_node_);
if (entry.request_needed &&
entry.updated_since_last_attempt &&
!get_node_info_client_.hasPendingCallToServer(last_picked_node_))
if (entry.request_needed)
{
UAVCAN_TRACE("NodeInfoRetriever", "Next node to query: %d", int(last_picked_node_));
return NodeID(last_picked_node_);
out_at_least_one_request_needed = true;
if (entry.updated_since_last_attempt &&
!get_node_info_client_.hasPendingCallToServer(last_picked_node_))
{
UAVCAN_TRACE("NodeInfoRetriever", "Next node to query: %d", int(last_picked_node_));
return NodeID(last_picked_node_);
}
}
}
return NodeID(); // No node could be found
}
virtual void handleTimerEvent(const TimerEvent&)
{
const NodeID next = pickNextNodeToQuery();
bool at_least_one_request_needed = false;
const NodeID next = pickNextNodeToQuery(at_least_one_request_needed);
if (next.isUnicast())
{
UAVCAN_ASSERT(at_least_one_request_needed);
getEntry(next).updated_since_last_attempt = false;
const int res = get_node_info_client_.call(next, protocol::GetNodeInfo::Request());
if (res < 0)
@ -238,16 +249,7 @@ private:
}
else
{
bool requests_needed = false;
for (uint8_t i = 1; i <= NodeID::Max; i++)
{
if (getEntry(i).request_needed)
{
requests_needed = true;
break;
}
}
if (!requests_needed)
if (!at_least_one_request_needed)
{
TimerBase::stop();
UAVCAN_TRACE("NodeInfoRetriever", "Timer stopped");