Optional pre-initialization for GenericPublisher<>, TransferSender accessor

libuavcan/include/uavcan/node/generic_publisher.hpp

@@ -106,6 +106,11 @@ public:
 
     ~GenericPublisher() { }
 
+    int init()
+    {
+        return checkInit() ? 0 : -1;
+    }
+
     int publish(const DataStruct& message, TransferType transfer_type, NodeID dst_node_id,
                 MonotonicTime blocking_deadline = MonotonicTime())
     {
@@ -118,6 +123,12 @@ public:
         return genericPublish(message, transfer_type, dst_node_id, &tid, blocking_deadline);
     }
 
+    TransferSender* getTransferSender()
+    {
+        checkInit();
+        return sender_.isConstructed() ? static_cast<TransferSender*>(sender_) : NULL;
+    }
+
     static MonotonicDuration getMinTxTimeout() { return MonotonicDuration::fromUSec(200); }
     static MonotonicDuration getMaxTxTimeout() { return MonotonicDuration::fromMSec(60000); }
 

libuavcan/include/uavcan/node/publisher.hpp

@@ -44,6 +44,8 @@ public:
 
     static MonotonicDuration getDefaultTxTimeout() { return MonotonicDuration::fromMSec(5); } // 5 ms --> 200 Hz max
 
+    using BaseType::init;
+    using BaseType::getTransferSender;
     using BaseType::getMinTxTimeout;
     using BaseType::getMaxTxTimeout;
     using BaseType::getTxTimeout;

libuavcan/include/uavcan/node/service_client.hpp

@@ -143,6 +143,11 @@ public:
 
     virtual ~ServiceClient() { cancel(); }
 
+    int init()
+    {
+        return publisher_.init();
+    }
+
     int call(NodeID server_node_id, const RequestType& request) // TODO: Refactor, move into a non-template subclass!
     {
         /*

libuavcan/include/uavcan/node/service_server.hpp

@@ -79,6 +79,12 @@ public:
         }
         callback_ = callback;
 
+        const int publisher_res = publisher_.init();
+        if (publisher_res < 0)
+        {
+            UAVCAN_TRACE("ServiceServer", "Publisher initialization failure: %i", publisher_res);
+            return publisher_res;
+        }
         return SubscriberType::startAsServiceRequestListener();
     }
 

libuavcan/test/node/publisher.cpp

@@ -105,4 +105,18 @@ TEST(Publisher, Basic)
      * Misc
      */
     ASSERT_TRUE(uavcan::GlobalDataTypeRegistry::instance().isFrozen());
+    ASSERT_TRUE(publisher.getTransferSender());
+}
+
+
+TEST(Publisher, ImplicitInitialization)
+{
+    SystemClockMock clock_mock(100);
+    CanDriverMock can_driver(2, clock_mock);
+    TestNode node(can_driver, clock_mock, 1);
+
+    uavcan::Publisher<uavcan::mavlink::Message> publisher(node);
+
+    // Will be initialized ad-hoc
+    ASSERT_TRUE(publisher.getTransferSender());
 }