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Restructured NodeStatusMonitor and NodeInfoRetriever - TimerBase is not inherited by the monitor now because that was a suboptimal solution for a class designed for inheritance

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This commit is contained in:
Pavel Kirienko
2015-05-13 22:32:23 +03:00
parent 2b0d669d7f
commit e2ef4a4518
2 changed files with 62 additions and 20 deletions
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libuavcan/include/uavcan/protocol/node_status_monitor.hpp
+13 -7
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@@ -19,7 +19,7 @@ namespace uavcan
* This class implements the core functionality of a network monitor.
* It can be extended by inheritance to add more complex logic, or used directly as is.
*/
class UAVCAN_EXPORT NodeStatusMonitor : protected TimerBase
class UAVCAN_EXPORT NodeStatusMonitor
{
public:
typedef typename StorageType<typename protocol::NodeStatus::FieldTypes::status_code>::Type NodeStatusCode;
@@ -43,12 +43,14 @@ public:
};
private:
enum { TimerPeriodMs100 = 5 };
enum { TimerPeriodMs100 = 4 };
typedef MethodBinder<NodeStatusMonitor*,
void (NodeStatusMonitor::*)(const ReceivedDataStructure<protocol::NodeStatus>&)>
NodeStatusCallback;
typedef MethodBinder<NodeStatusMonitor*, void (NodeStatusMonitor::*)(const TimerEvent&)> TimerCallback;
/*
* We'll be able to handle this many nodes in the network without any dynamic memory.
*/
@@ -56,6 +58,8 @@ private:
Subscriber<protocol::NodeStatus, NodeStatusCallback, NumStaticReceivers, 0> sub_;
TimerEventForwarder<TimerCallback> timer_;
struct Entry
{
NodeStatusCode status_code;
@@ -110,7 +114,7 @@ private:
handleNodeStatusMessage(msg);
}
virtual void handleTimerEvent(const TimerEvent&)
void handleTimerEvent(const TimerEvent&)
{
const int OfflineTimeoutMs100 = protocol::NodeStatus::OFFLINE_TIMEOUT_MS / 100;
@@ -122,7 +126,8 @@ private:
if (entry.time_since_last_update_ms100 >= 0 &&
entry.status_code != protocol::NodeStatus::STATUS_OFFLINE)
{
entry.time_since_last_update_ms100 = int8_t(entry.time_since_last_update_ms100 + int8_t(TimerPeriodMs100));
entry.time_since_last_update_ms100 =
int8_t(entry.time_since_last_update_ms100 + int8_t(TimerPeriodMs100));
if (entry.time_since_last_update_ms100 >= OfflineTimeoutMs100)
{
Entry new_entry_value;
@@ -157,8 +162,8 @@ protected:
public:
explicit NodeStatusMonitor(INode& node)
: TimerBase(node)
, sub_(node)
: sub_(node)
, timer_(node)
{ }
virtual ~NodeStatusMonitor() { }
@@ -173,7 +178,8 @@ public:
const int res = sub_.start(NodeStatusCallback(this, &NodeStatusMonitor::handleNodeStatus));
if (res >= 0)
{
TimerBase::startPeriodic(MonotonicDuration::fromMSec(TimerPeriodMs100 * 100));
timer_.setCallback(TimerCallback(this, &NodeStatusMonitor::handleTimerEvent));
timer_.startPeriodic(MonotonicDuration::fromMSec(TimerPeriodMs100 * 100));
}
return res;
}