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Node info retriever - timer event optimization

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This commit is contained in:
Pavel Kirienko
2015-05-17 16:35:09 +03:00
parent 600c29a953
commit c089f4d72b
1 changed files with 19 additions and 17 deletions
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libuavcan/include/uavcan/protocol/node_info_retriever.hpp
+19 -17
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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 for (unsigned iter_cnt_ = 0; iter_cnt_ < (sizeof(entries_) / sizeof(entries_[0])); iter_cnt_++) // Round-robin
{ {
last_picked_node_++; last_picked_node_++;
@@ -213,22 +215,31 @@ private:
(last_picked_node_ <= NodeID::Max)); (last_picked_node_ <= NodeID::Max));
const Entry& entry = getEntry(last_picked_node_); const Entry& entry = getEntry(last_picked_node_);
if (entry.request_needed &&
entry.updated_since_last_attempt && if (entry.request_needed)
!get_node_info_client_.hasPendingCallToServer(last_picked_node_))
{ {
UAVCAN_TRACE("NodeInfoRetriever", "Next node to query: %d", int(last_picked_node_)); out_at_least_one_request_needed = true;
return NodeID(last_picked_node_);
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 return NodeID(); // No node could be found
} }
virtual void handleTimerEvent(const TimerEvent&) 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()) if (next.isUnicast())
{ {
UAVCAN_ASSERT(at_least_one_request_needed);
getEntry(next).updated_since_last_attempt = false; getEntry(next).updated_since_last_attempt = false;
const int res = get_node_info_client_.call(next, protocol::GetNodeInfo::Request()); const int res = get_node_info_client_.call(next, protocol::GetNodeInfo::Request());
if (res < 0) if (res < 0)
@@ -238,16 +249,7 @@ private:
} }
else else
{ {
bool requests_needed = false; if (!at_least_one_request_needed)
for (uint8_t i = 1; i <= NodeID::Max; i++)
{
if (getEntry(i).request_needed)
{
requests_needed = true;
break;
}
}
if (!requests_needed)
{ {
TimerBase::stop(); TimerBase::stop();
UAVCAN_TRACE("NodeInfoRetriever", "Timer stopped"); UAVCAN_TRACE("NodeInfoRetriever", "Timer stopped");