uavcan_linux::Node::makeBlockingServiceClient()

libuavcan_drivers/linux/include/uavcan_linux/helpers.hpp

@@ -27,6 +27,70 @@ class DefaultLogSink : public uavcan::ILogSink
     }
 };
 
+/**
+ * Wrapper over uavcan::ServiceClient<> for blocking calls.
+ * Calls spin() internally.
+ */
+template <typename DataType>
+class BlockingServiceClient : public uavcan::ServiceClient<DataType>
+{
+    typedef uavcan::ServiceClient<DataType> Super;
+
+    typename DataType::Response response_;
+    bool call_was_successful_;
+
+    void callback(const uavcan::ServiceCallResult<DataType>& res)
+    {
+        response_ = res.response;
+        call_was_successful_ = res.isSuccessful();
+    }
+
+    void setup()
+    {
+        Super::setCallback(std::bind(&BlockingServiceClient::callback, this, std::placeholders::_1));
+        call_was_successful_ = false;
+        response_ = typename DataType::Response();
+    }
+
+public:
+    BlockingServiceClient(uavcan::INode& node)
+        : uavcan::ServiceClient<DataType>(node)
+        , call_was_successful_(false)
+    {
+        setup();
+    }
+
+    int blockingCall(uavcan::NodeID server_node_id, const typename DataType::Request& request)
+    {
+        const auto SpinDuration = uavcan::MonotonicDuration::fromMSec(2);
+        setup();
+        const int call_res = Super::call(server_node_id, request);
+        if (call_res >= 0)
+        {
+            while (Super::isPending())
+            {
+                const int spin_res = Super::getNode().spin(SpinDuration);
+                if (spin_res < 0)
+                {
+                    return spin_res;
+                }
+            }
+        }
+        return call_res;
+    }
+
+    int blockingCall(uavcan::NodeID server_node_id, const typename DataType::Request& request,
+                     uavcan::MonotonicDuration timeout)
+    {
+        Super::setRequestTimeout(timeout);
+        return blockingCall(server_node_id, request);
+    }
+
+    bool wasSuccessful() const { return call_was_successful_; }
+
+    const typename DataType::Response& getResponse() const { return response_; }
+};
+
 /**
  * Contains all drivers needed for uavcan::Node.
  */
@@ -129,6 +193,15 @@ public:
         return p;
     }
 
+    template <typename DataType>
+    std::shared_ptr<BlockingServiceClient<DataType>>
+    makeBlockingServiceClient()
+    {
+        std::shared_ptr<BlockingServiceClient<DataType>> p(new BlockingServiceClient<DataType>(*this));
+        enforce(p->init(), "BlockingServiceClient init failure " + getDataTypeName<DataType>());
+        return p;
+    }
+
     TimerPtr makeTimer(uavcan::MonotonicTime deadline, const typename uavcan::Timer::Callback& cb)
     {
         TimerPtr p(new uavcan::Timer(*this));
@@ -172,68 +245,4 @@ static inline NodePtr makeNode(const std::vector<std::string>& iface_names)
     return makeNode(iface_names, SystemClock::detectPreferredClockAdjustmentMode());
 }
 
-/**
- * Wrapper over uavcan::ServiceClient<> for blocking calls.
- * Calls spin() internally.
- */
-template <typename DataType>
-class BlockingServiceClient : public uavcan::ServiceClient<DataType>
-{
-    typedef uavcan::ServiceClient<DataType> Super;
-
-    typename DataType::Response response_;
-    bool call_was_successful_;
-
-    void callback(const uavcan::ServiceCallResult<DataType>& res)
-    {
-        response_ = res.response;
-        call_was_successful_ = res.isSuccessful();
-    }
-
-    void setup()
-    {
-        Super::setCallback(std::bind(&BlockingServiceClient::callback, this, std::placeholders::_1));
-        call_was_successful_ = false;
-        response_ = typename DataType::Response();
-    }
-
-public:
-    BlockingServiceClient(uavcan::INode& node)
-        : uavcan::ServiceClient<DataType>(node)
-        , call_was_successful_(false)
-    {
-        setup();
-    }
-
-    int blockingCall(uavcan::NodeID server_node_id, const typename DataType::Request& request)
-    {
-        const auto SpinDuration = uavcan::MonotonicDuration::fromMSec(2);
-        setup();
-        const int call_res = Super::call(server_node_id, request);
-        if (call_res >= 0)
-        {
-            while (Super::isPending())
-            {
-                const int spin_res = Super::getNode().spin(SpinDuration);
-                if (spin_res < 0)
-                {
-                    return spin_res;
-                }
-            }
-        }
-        return call_res;
-    }
-
-    int blockingCall(uavcan::NodeID server_node_id, const typename DataType::Request& request,
-                     uavcan::MonotonicDuration timeout)
-    {
-        Super::setRequestTimeout(timeout);
-        return blockingCall(server_node_id, request);
-    }
-
-    bool wasSuccessful() const { return call_was_successful_; }
-
-    const typename DataType::Response& getResponse() const { return response_; }
-};
-
 }

libuavcan_drivers/linux/test/test_nodetool.cpp

@@ -135,14 +135,14 @@ void executeCommand(const uavcan_linux::NodePtr& node, const std::string& cmd,
 {
     if (cmd == "param")
     {
-        uavcan_linux::BlockingServiceClient<uavcan::protocol::param::GetSet> get_set(*node);
+        auto client = node->makeBlockingServiceClient<uavcan::protocol::param::GetSet>();
         printGetSetResponseHeader();
         uavcan::protocol::param::GetSet::Request request;
         if (args.empty())
         {
             while (true)
             {
-                auto response = call(get_set, node_id, request);
+                auto response = call(*client, node_id, request);
                 if (response.name.empty())
                 {
                     break;
@@ -155,25 +155,25 @@ void executeCommand(const uavcan_linux::NodePtr& node, const std::string& cmd,
         {
             request.name = args.at(0).c_str();
             request.value.value_float.push_back(std::stof(args.at(1)));
-            printGetSetResponse(call(get_set, node_id, request));
+            printGetSetResponse(call(*client, node_id, request));
         }
     }
     else if (cmd == "param_save" || cmd == "param_erase")
     {
-        uavcan_linux::BlockingServiceClient<uavcan::protocol::param::SaveErase> save_erase(*node);
+        auto client = node->makeBlockingServiceClient<uavcan::protocol::param::SaveErase>();
         uavcan::protocol::param::SaveErase::Request request;
         request.opcode = (cmd == "param_save") ? request.OPCODE_SAVE : request.OPCODE_ERASE;
-        std::cout << call(save_erase, node_id, request) << std::endl;
+        std::cout << call(*client, node_id, request) << std::endl;
     }
     else if (cmd == "restart")
     {
-        uavcan_linux::BlockingServiceClient<uavcan::protocol::RestartNode> restart(*node);
+        auto client = node->makeBlockingServiceClient<uavcan::protocol::RestartNode>();
         uavcan::protocol::RestartNode::Request request;
         request.magic_number = request.MAGIC_NUMBER;
-        (void)restart.blockingCall(node_id, request);
+        (void)client->blockingCall(node_id, request);
-        if (restart.wasSuccessful())
+        if (client->wasSuccessful())
         {
-            std::cout << restart.getResponse() << std::endl;
+            std::cout << client->getResponse() << std::endl;
         }
         else
         {
@@ -182,13 +182,13 @@ void executeCommand(const uavcan_linux::NodePtr& node, const std::string& cmd,
     }
     else if (cmd == "info")
     {
-        uavcan_linux::BlockingServiceClient<uavcan::protocol::GetNodeInfo> client(*node);
+        auto client = node->makeBlockingServiceClient<uavcan::protocol::GetNodeInfo>();
-        std::cout << call(client, node_id, uavcan::protocol::GetNodeInfo::Request()) << std::endl;
+        std::cout << call(*client, node_id, uavcan::protocol::GetNodeInfo::Request()) << std::endl;
     }
     else if (cmd == "tstat")
     {
-        uavcan_linux::BlockingServiceClient<uavcan::protocol::GetTransportStats> client(*node);
+        auto client = node->makeBlockingServiceClient<uavcan::protocol::GetTransportStats>();
-        std::cout << call(client, node_id, uavcan::protocol::GetTransportStats::Request()) << std::endl;
+        std::cout << call(*client, node_id, uavcan::protocol::GetTransportStats::Request()) << std::endl;
     }
     else if (cmd == "hardpoint")
     {