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NetworkCompatibilityChecker will not be executed at each Node<>::start(), there's special method for that - Node<>::checkNetworkCompatibility()

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This commit is contained in:
Pavel Kirienko
2014-04-12 22:10:26 +04:00
parent dd5908dad8
commit e476a957a8
6 changed files with 60 additions and 46 deletions
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libuavcan/include/uavcan/node/node.hpp
+28 -24
View File
@@ -51,8 +51,6 @@ class UAVCAN_EXPORT Node : public INode
bool started_;
int initNetwork(NetworkCompatibilityCheckResult& node_init_result);
protected:
virtual void registerInternalFailure(const char* msg)
{
@@ -99,7 +97,9 @@ public:
bool isStarted() const { return started_; }
int start(NetworkCompatibilityCheckResult& node_init_result);
int start();
int checkNetworkCompatibility(NetworkCompatibilityCheckResult& result);
/*
* Initialization methods
@@ -173,25 +173,7 @@ public:
template <std::size_t MemPoolSize_, unsigned OutgoingTransferRegistryStaticEntries,
unsigned OutgoingTransferMaxPayloadLen>
int Node<MemPoolSize_, OutgoingTransferRegistryStaticEntries, OutgoingTransferMaxPayloadLen>::
initNetwork(NetworkCompatibilityCheckResult& node_init_result)
{
int res = NetworkCompatibilityChecker::publishGlobalDiscoveryRequest(*this);
if (res < 0)
{
return res;
}
NetworkCompatibilityChecker initializer(*this);
StaticAssert<(sizeof(initializer) < 1200)>::check();
res = initializer.execute();
node_init_result = initializer.getResult();
return res;
}
template <std::size_t MemPoolSize_, unsigned OutgoingTransferRegistryStaticEntries,
unsigned OutgoingTransferMaxPayloadLen>
int Node<MemPoolSize_, OutgoingTransferRegistryStaticEntries, OutgoingTransferMaxPayloadLen>::
start(NetworkCompatibilityCheckResult& node_init_result)
int Node<MemPoolSize_, OutgoingTransferRegistryStaticEntries, OutgoingTransferMaxPayloadLen>::start()
{
if (started_)
{
@@ -225,12 +207,34 @@ start(NetworkCompatibilityCheckResult& node_init_result)
{
goto fail;
}
res = initNetwork(node_init_result);
started_ = (res >= 0) && node_init_result.isOk();
started_ = res >= 0;
return res;
fail:
assert(res < 0);
return res;
}
template <std::size_t MemPoolSize_, unsigned OutgoingTransferRegistryStaticEntries,
unsigned OutgoingTransferMaxPayloadLen>
int Node<MemPoolSize_, OutgoingTransferRegistryStaticEntries, OutgoingTransferMaxPayloadLen>::
checkNetworkCompatibility(NetworkCompatibilityCheckResult& result)
{
if (!started_)
{
return -ErrNotInited;
}
int res = NetworkCompatibilityChecker::publishGlobalDiscoveryRequest(*this);
if (res < 0)
{
return res;
}
NetworkCompatibilityChecker checker(*this);
StaticAssert<(sizeof(checker) < 2048)>::check();
res = checker.execute();
result = checker.getResult();
return res;
}
}
libuavcan/test/node/node.cpp
+6 -2
View File
@@ -59,7 +59,9 @@ TEST(Node, Basic)
* Init the second node - network is empty
*/
uavcan::NetworkCompatibilityCheckResult result;
ASSERT_LE(0, node2.start(result));
ASSERT_LE(0, node2.start());
ASSERT_LE(0, node2.checkNetworkCompatibility(result));
ASSERT_TRUE(result.isOk());
ASSERT_FALSE(node_status_monitor.findNodeWithWorstStatus().isValid());
@@ -68,7 +70,9 @@ TEST(Node, Basic)
*/
ASSERT_FALSE(node1.isStarted());
ASSERT_EQ(-uavcan::ErrNotInited, node1.spin(uavcan::MonotonicDuration::fromMSec(20)));
ASSERT_LE(0, node1.start(result));
ASSERT_LE(0, node1.start());
ASSERT_LE(0, node1.checkNetworkCompatibility(result));
ASSERT_TRUE(result.isOk());
ASSERT_TRUE(node1.isStarted());
ASSERT_EQ(1, node_status_monitor.findNodeWithWorstStatus().get());