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First step towards introducing the global RX object buffer

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This commit is contained in:
Pavel Kirienko
2015-05-28 13:49:01 +03:00
parent 954ab2491a
commit d4e49d518a
4 changed files with 25 additions and 23 deletions
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libuavcan/include/uavcan/node/node.hpp
+16 -15
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@@ -47,21 +47,24 @@ namespace uavcan
* be allocated in the memory pool if needed.
* Default value is acceptable for any use case.
*
* @tparam OutgoingTransferMaxPayloadLen Maximum outgoing transfer payload length.
* It's pointless to make this value larger than
* @ref MaxTransferPayloadLen, which is default.
* Note that in tiny mode the default value is actually
* smaller than @ref MaxTransferPayloadLen (may cause
* run-time failures).
* @tparam MarshalBufferSize Size of the marshal buffer, that is used to provide short-term temporary storage for:
* 1. Serialized data for TX transfers;
* 2. De-serialized data for RX transfers.
* The buffer must be large enough to accommodate largest serialized TX transfer and
* largest de-serialized RX data structure. The former value is constant for UAVCAN, the
* latter is platform-dependent (depends on the field padding, memory alignment, pointer
* size, etc.).
* The default value should be enough for all use cases on virtually all platforms.
* If this value is not large enough, transport objects (such as Subscriber<>,
* Publisher<>, Service*<>) will be failing at run time during initialization.
*/
template <std::size_t MemPoolSize_,
#if UAVCAN_TINY
unsigned OutgoingTransferRegistryStaticEntries = 0,
unsigned OutgoingTransferMaxPayloadLen = 264
#else
unsigned OutgoingTransferRegistryStaticEntries = 10,
unsigned OutgoingTransferMaxPayloadLen = MaxPossibleTransferPayloadLen
#endif
unsigned MarshalBufferSize = 512
>
class UAVCAN_EXPORT Node : public INode
{
@@ -73,7 +76,7 @@ class UAVCAN_EXPORT Node : public INode
typedef PoolAllocator<MemPoolSize, MemPoolBlockSize> Allocator;
Allocator pool_allocator_;
MarshalBufferProvider<OutgoingTransferMaxPayloadLen> marsh_buf_;
MarshalBufferProvider<MarshalBufferSize> marsh_buf_;
OutgoingTransferRegistry<OutgoingTransferRegistryStaticEntries> outgoing_trans_reg_;
Scheduler scheduler_;
@@ -265,9 +268,8 @@ public:
// ----------------------------------------------------------------------------
template <std::size_t MemPoolSize_, unsigned OutgoingTransferRegistryStaticEntries,
unsigned OutgoingTransferMaxPayloadLen>
int Node<MemPoolSize_, OutgoingTransferRegistryStaticEntries, OutgoingTransferMaxPayloadLen>::start(
template <std::size_t MemPoolSize_, unsigned OutgoingTransferRegistryStaticEntries, unsigned MarshalBufferSize>
int Node<MemPoolSize_, OutgoingTransferRegistryStaticEntries, MarshalBufferSize>::start(
const TransferPriority priority)
{
if (started_)
@@ -313,9 +315,8 @@ fail:
#if !UAVCAN_TINY
template <std::size_t MemPoolSize_, unsigned OutgoingTransferRegistryStaticEntries,
unsigned OutgoingTransferMaxPayloadLen>
int Node<MemPoolSize_, OutgoingTransferRegistryStaticEntries, OutgoingTransferMaxPayloadLen>::
template <std::size_t MemPoolSize_, unsigned OutgoingTransferRegistryStaticEntries, unsigned MarshalBufferSize>
int Node<MemPoolSize_, OutgoingTransferRegistryStaticEntries, MarshalBufferSize>::
checkNetworkCompatibility(NetworkCompatibilityCheckResult& result)
{
if (!started_)