From e24fa5f23658f6bff05cbf4d01674660533968c4 Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Mon, 8 Jun 2015 12:37:31 +0300
Subject: [PATCH] SubNode<>

---
 .../include/uavcan/node/abstract_node.hpp     |  1 +
 libuavcan/include/uavcan/node/node.hpp        |  1 -
 libuavcan/include/uavcan/node/sub_node.hpp    | 66 +++++++++++++++++++
 libuavcan/test/node/node.cpp                  |  1 +
 4 files changed, 68 insertions(+), 1 deletion(-)
 create mode 100644 libuavcan/include/uavcan/node/sub_node.hpp

diff --git a/libuavcan/include/uavcan/node/abstract_node.hpp b/libuavcan/include/uavcan/node/abstract_node.hpp
index a9c80466d9..1dc458cbb4 100644
--- a/libuavcan/include/uavcan/node/abstract_node.hpp
+++ b/libuavcan/include/uavcan/node/abstract_node.hpp
@@ -6,6 +6,7 @@
 #define UAVCAN_NODE_ABSTRACT_NODE_HPP_INCLUDED
 
 #include <uavcan/build_config.hpp>
+#include <uavcan/dynamic_memory.hpp>
 #include <uavcan/node/scheduler.hpp>
 
 namespace uavcan
diff --git a/libuavcan/include/uavcan/node/node.hpp b/libuavcan/include/uavcan/node/node.hpp
index d5b9731c8a..37900c0729 100644
--- a/libuavcan/include/uavcan/node/node.hpp
+++ b/libuavcan/include/uavcan/node/node.hpp
@@ -8,7 +8,6 @@
 #include <cassert>
 #include <uavcan/error.hpp>
 #include <uavcan/build_config.hpp>
-#include <uavcan/dynamic_memory.hpp>
 #include <uavcan/node/abstract_node.hpp>
 
 // High-level functionality available by default
diff --git a/libuavcan/include/uavcan/node/sub_node.hpp b/libuavcan/include/uavcan/node/sub_node.hpp
new file mode 100644
index 0000000000..ec5484365d
--- /dev/null
+++ b/libuavcan/include/uavcan/node/sub_node.hpp
@@ -0,0 +1,66 @@
+/*
+ * Copyright (C) 2015 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#ifndef UAVCAN_SUB_NODE_NODE_HPP_INCLUDED
+#define UAVCAN_SUB_NODE_NODE_HPP_INCLUDED
+
+#include <cassert>
+#include <uavcan/build_config.hpp>
+#include <uavcan/node/abstract_node.hpp>
+
+#if UAVCAN_TINY
+# error "This functionality is not available in tiny mode"
+#endif
+
+namespace uavcan
+{
+/**
+ * This node object can be used in multiprocess UAVCAN nodes.
+ * Please refer to the @ref Node<> for documentation concerning the template arguments; refer to the tutorials
+ * to lean how to use libuavcan in multiprocess applications.
+ */
+template <std::size_t MemPoolSize_,
+          unsigned OutgoingTransferRegistryStaticEntries = 10
+          >
+class UAVCAN_EXPORT SubNode : public INode
+{
+    enum
+    {
+        MemPoolSize = (MemPoolSize_ < std::size_t(MemPoolBlockSize)) ? std::size_t(MemPoolBlockSize) : MemPoolSize_
+    };
+
+    typedef PoolAllocator<MemPoolSize, MemPoolBlockSize> Allocator;
+
+    Allocator pool_allocator_;
+    OutgoingTransferRegistry<OutgoingTransferRegistryStaticEntries> outgoing_trans_reg_;
+    Scheduler scheduler_;
+
+    uint64_t internal_failure_cnt_;
+
+protected:
+    virtual void registerInternalFailure(const char* msg)
+    {
+        internal_failure_cnt_++;
+        UAVCAN_TRACE("Node", "Internal failure: %s", msg);
+        (void)msg;
+    }
+
+public:
+    SubNode(ICanDriver& can_driver, ISystemClock& system_clock) :
+        outgoing_trans_reg_(pool_allocator_),
+        scheduler_(can_driver, pool_allocator_, system_clock, outgoing_trans_reg_),
+        internal_failure_cnt_(0)
+    { }
+
+    virtual Allocator& getAllocator() { return pool_allocator_; }
+
+    virtual Scheduler& getScheduler() { return scheduler_; }
+    virtual const Scheduler& getScheduler() const { return scheduler_; }
+
+    uint64_t getInternalFailureCount() const { return internal_failure_cnt_; }
+};
+
+}
+
+#endif // Include guard
diff --git a/libuavcan/test/node/node.cpp b/libuavcan/test/node/node.cpp
index 2598907abb..a9ddc6ec03 100644
--- a/libuavcan/test/node/node.cpp
+++ b/libuavcan/test/node/node.cpp
@@ -4,6 +4,7 @@
 
 #include <gtest/gtest.h>
 #include <uavcan/node/node.hpp>
+#include <uavcan/node/sub_node.hpp> // Compilability test
 #include <uavcan/protocol/node_status_monitor.hpp>
 #include "test_node.hpp"
 #include "../protocol/helpers.hpp"