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GetDataTypeInfo now can be requested either by dtid/id, or by name

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This commit is contained in:
Pavel Kirienko
2015-03-16 23:35:37 +03:00
parent 14c176015a
commit f2cfed70cb
4 changed files with 114 additions and 25 deletions
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libuavcan/src/protocol/uc_data_type_info_provider.cpp
+40 -16
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@@ -35,43 +35,67 @@ void DataTypeInfoProvider::handleComputeAggregateTypeSignatureRequest(
void DataTypeInfoProvider::handleGetDataTypeInfoRequest(const protocol::GetDataTypeInfo::Request& request,
protocol::GetDataTypeInfo::Response& response)
{
const DataTypeKind kind = DataTypeKind(request.kind.value);
if (!isValidDataTypeKind(kind))
/*
* Asking the Global Data Type Registry for the matching type descriptor, either by name or by ID
*/
const DataTypeDescriptor* desc = NULL;
if (request.name.empty())
{
UAVCAN_TRACE("DataTypeInfoProvider", "GetDataTypeInfo request with invalid DataTypeKind %i", kind);
return;
response.id = request.id; // Pre-setting the fields so they have meaningful values even in
response.kind = request.kind; // ...case of failure.
if (!isValidDataTypeKind(DataTypeKind(request.kind.value)))
{
UAVCAN_TRACE("DataTypeInfoProvider", "GetDataTypeInfo request with invalid DataTypeKind %i",
static_cast<int>(request.kind.value));
return;
}
desc = GlobalDataTypeRegistry::instance().find(DataTypeKind(request.kind.value), request.id);
}
else
{
response.name = request.name;
desc = GlobalDataTypeRegistry::instance().find(request.name.c_str());
}
const DataTypeDescriptor* const desc = GlobalDataTypeRegistry::instance().find(kind, request.id);
if (!desc)
if (desc == NULL)
{
UAVCAN_TRACE("DataTypeInfoProvider", "Cannot process GetDataTypeInfo for nonexistent type dtid=%i dtk=%i",
int(request.id), int(request.kind.value));
UAVCAN_TRACE("DataTypeInfoProvider",
"Cannot process GetDataTypeInfo for nonexistent type: dtid=%i dtk=%i name='%s'",
static_cast<int>(request.id), static_cast<int>(request.kind.value), request.name.c_str());
return;
}
UAVCAN_TRACE("DataTypeInfoProvider", "GetDataTypeInfo request for %s", desc->toString().c_str());
response.signature = desc->getSignature().get();
response.name = desc->getFullName();
response.mask = protocol::GetDataTypeInfo::Response::MASK_KNOWN;
/*
* Filling the response struct
*/
response.signature = desc->getSignature().get();
response.id = desc->getID().get();
response.kind.value = desc->getKind();
response.mask = protocol::GetDataTypeInfo::Response::MASK_KNOWN;
response.name = desc->getFullName();
const Dispatcher& dispatcher = getNode().getDispatcher();
if (request.kind.value == protocol::DataTypeKind::SERVICE)
if (desc->getKind() == DataTypeKindService)
{
if (dispatcher.hasServer(request.id))
if (dispatcher.hasServer(desc->getID().get()))
{
response.mask |= protocol::GetDataTypeInfo::Response::MASK_SERVING;
}
}
else if (request.kind.value == protocol::DataTypeKind::MESSAGE)
else if (desc->getKind() == DataTypeKindMessage)
{
if (dispatcher.hasSubscriber(request.id))
if (dispatcher.hasSubscriber(desc->getID().get()))
{
response.mask |= protocol::GetDataTypeInfo::Response::MASK_SUBSCRIBED;
}
if (dispatcher.hasPublisher(request.id))
if (dispatcher.hasPublisher(desc->getID().get()))
{
response.mask |= protocol::GetDataTypeInfo::Response::MASK_PUBLISHING;
}