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Size optimized ServiceClient<>

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This commit is contained in:
Pavel Kirienko
2014-04-09 18:04:16 +04:00
parent 3391803d86
commit f768378e2b
2 changed files with 209 additions and 155 deletions
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libuavcan/include/uavcan/node/service_client.hpp
+161 -155
View File
@@ -69,6 +69,33 @@ static Stream& operator<<(Stream& s, const ServiceCallResult<DataType>& scr)
}
class ServiceClientBase : protected DeadlineHandler
{
protected:
MonotonicDuration request_timeout_;
bool pending_;
ServiceClientBase(INode& node)
: DeadlineHandler(node.getScheduler())
, request_timeout_(getDefaultRequestTimeout())
, pending_(false)
{ }
virtual ~ServiceClientBase() { }
int prepareToCall(INode& node, const char* dtname, NodeID server_node_id, TransferID& out_transfer_id);
public:
bool isPending() const { return pending_; }
static MonotonicDuration getDefaultRequestTimeout() { return MonotonicDuration::fromMSec(1000); }
static MonotonicDuration getMinRequestTimeout() { return MonotonicDuration::fromMSec(10); }
static MonotonicDuration getMaxRequestTimeout() { return MonotonicDuration::fromMSec(60000); }
using DeadlineHandler::getDeadline;
};
template <typename DataType_,
#if UAVCAN_CPP_VERSION >= UAVCAN_CPP11
typename Callback_ = std::function<void (const ServiceCallResult<DataType_>&)>
@@ -79,7 +106,7 @@ template <typename DataType_,
class UAVCAN_EXPORT ServiceClient
: public GenericSubscriber<DataType_, typename DataType_::Response,
typename ServiceResponseTransferListenerInstantiationHelper<DataType_>::Type >
, protected DeadlineHandler
, public ServiceClientBase
{
public:
typedef DataType_ DataType;
@@ -96,70 +123,21 @@ private:
PublisherType publisher_;
Callback callback_;
MonotonicDuration request_timeout_;
bool pending_;
bool isCallbackValid() const { return try_implicit_cast<bool>(callback_, true); }
void invokeCallback(ServiceCallResultType& result)
{
if (isCallbackValid())
{
callback_(result);
}
else
{
handleFatalError("Invalid caller callback");
}
}
void invokeCallback(ServiceCallResultType& result);
void handleReceivedDataStruct(ReceivedDataStructure<ResponseType>& response)
{
assert(response.getTransferType() == TransferTypeServiceResponse);
const TransferListenerType* const listener = SubscriberType::getTransferListener();
if (listener)
{
const typename TransferListenerType::ExpectedResponseParams erp = listener->getExpectedResponseParams();
ServiceCallResultType result(ServiceCallResultType::Success, erp.src_node_id, response);
cancel();
invokeCallback(result);
}
else
{
assert(0);
cancel();
}
}
void handleReceivedDataStruct(ReceivedDataStructure<ResponseType>& response);
void handleDeadline(MonotonicTime)
{
const TransferListenerType* const listener = SubscriberType::getTransferListener();
if (listener)
{
const typename TransferListenerType::ExpectedResponseParams erp = listener->getExpectedResponseParams();
ReceivedDataStructure<ResponseType>& ref = SubscriberType::getReceivedStructStorage();
ServiceCallResultType result(ServiceCallResultType::ErrorTimeout, erp.src_node_id, ref);
UAVCAN_TRACE("ServiceClient", "Timeout from nid=%i, dtname=%s",
erp.src_node_id.get(), DataType::getDataTypeFullName());
cancel();
invokeCallback(result);
}
else
{
assert(0);
cancel();
}
}
void handleDeadline(MonotonicTime);
public:
explicit ServiceClient(INode& node, const Callback& callback = Callback())
: SubscriberType(node)
, DeadlineHandler(node.getScheduler())
, ServiceClientBase(node)
, publisher_(node, getDefaultRequestTimeout())
, callback_(callback)
, request_timeout_(getDefaultRequestTimeout())
, pending_(false)
{
setRequestTimeout(getDefaultRequestTimeout());
#if UAVCAN_DEBUG
@@ -174,102 +152,9 @@ public:
return publisher_.init();
}
int call(NodeID server_node_id, const RequestType& request) // TODO: Refactor, move into a non-template subclass!
{
/*
* Cancelling the pending request
*/
cancel();
if (!isCallbackValid())
{
UAVCAN_TRACE("ServiceClient", "Invalid callback");
return -ErrInvalidParam;
}
pending_ = true;
int call(NodeID server_node_id, const RequestType& request);
/*
* Determining the Data Type ID
*/
GlobalDataTypeRegistry::instance().freeze();
const DataTypeDescriptor* const descr =
GlobalDataTypeRegistry::instance().find(DataTypeKindService, DataType::getDataTypeFullName());
if (!descr)
{
UAVCAN_TRACE("ServiceClient", "Type [%s] is not registered", DataType::getDataTypeFullName());
cancel();
return -ErrUnknownDataType;
}
/*
* Determining the Transfer ID
*/
const OutgoingTransferRegistryKey otr_key(descr->getID(), TransferTypeServiceRequest, server_node_id);
const MonotonicTime otr_deadline =
SubscriberType::getNode().getMonotonicTime() + TransferSender::getDefaultMaxTransferInterval();
TransferID* const otr_tid = SubscriberType::getNode().getDispatcher().getOutgoingTransferRegistry()
.accessOrCreate(otr_key, otr_deadline);
if (!otr_tid)
{
UAVCAN_TRACE("ServiceClient", "OTR access failure, dtd=%s", descr->toString().c_str());
cancel();
return -ErrMemory;
}
const TransferID transfer_id = *otr_tid;
otr_tid->increment();
/*
* Starting the subscriber
*/
const int subscriber_res = SubscriberType::startAsServiceResponseListener();
if (subscriber_res < 0)
{
UAVCAN_TRACE("ServiceClient", "Failed to start the subscriber, error: %i", subscriber_res);
cancel();
return subscriber_res;
}
/*
* Configuring the listener so it will accept only the matching response
*/
TransferListenerType* const tl = SubscriberType::getTransferListener();
if (!tl)
{
assert(0); // Must have been created
cancel();
return -ErrLogic;
}
const typename TransferListenerType::ExpectedResponseParams erp(server_node_id, transfer_id);
tl->setExpectedResponseParams(erp);
/*
* Registering the deadline handler
*/
DeadlineHandler::startWithDelay(request_timeout_);
/*
* Publishing the request
*/
const int publisher_res = publisher_.publish(request, TransferTypeServiceRequest, server_node_id, transfer_id);
if (!publisher_res)
{
cancel();
}
return publisher_res;
}
void cancel()
{
pending_ = false;
SubscriberType::stop();
DeadlineHandler::stop();
TransferListenerType* const tl = SubscriberType::getTransferListener();
if (tl)
{
tl->stopAcceptingAnything();
}
}
bool isPending() const { return pending_; }
void cancel();
const Callback& getCallback() const { return callback_; }
void setCallback(const Callback& cb) { callback_ = cb; }
@@ -280,10 +165,6 @@ public:
* Request timeouts
* There is no such config as TX timeout - TX timeouts are configured automagically according to request timeouts
*/
static MonotonicDuration getDefaultRequestTimeout() { return MonotonicDuration::fromMSec(1000); }
static MonotonicDuration getMinRequestTimeout() { return MonotonicDuration::fromMSec(10); }
static MonotonicDuration getMaxRequestTimeout() { return MonotonicDuration::fromMSec(60000); }
MonotonicDuration getRequestTimeout() const { return request_timeout_; }
void setRequestTimeout(MonotonicDuration timeout)
{
@@ -293,8 +174,133 @@ public:
publisher_.setTxTimeout(timeout);
request_timeout_ = std::max(timeout, publisher_.getTxTimeout()); // No less than TX timeout
}
using DeadlineHandler::getDeadline;
};
// ----------------------------------------------------------------------------
template <typename DataType_, typename Callback_>
void ServiceClient<DataType_, Callback_>::invokeCallback(ServiceCallResultType& result)
{
if (isCallbackValid())
{
callback_(result);
}
else
{
handleFatalError("Invalid caller callback");
}
}
template <typename DataType_, typename Callback_>
void ServiceClient<DataType_, Callback_>::handleReceivedDataStruct(ReceivedDataStructure<ResponseType>& response)
{
assert(response.getTransferType() == TransferTypeServiceResponse);
const TransferListenerType* const listener = SubscriberType::getTransferListener();
if (listener)
{
const typename TransferListenerType::ExpectedResponseParams erp = listener->getExpectedResponseParams();
ServiceCallResultType result(ServiceCallResultType::Success, erp.src_node_id, response);
cancel();
invokeCallback(result);
}
else
{
assert(0);
cancel();
}
}
template <typename DataType_, typename Callback_>
void ServiceClient<DataType_, Callback_>::handleDeadline(MonotonicTime)
{
const TransferListenerType* const listener = SubscriberType::getTransferListener();
if (listener)
{
const typename TransferListenerType::ExpectedResponseParams erp = listener->getExpectedResponseParams();
ReceivedDataStructure<ResponseType>& ref = SubscriberType::getReceivedStructStorage();
ServiceCallResultType result(ServiceCallResultType::ErrorTimeout, erp.src_node_id, ref);
UAVCAN_TRACE("ServiceClient", "Timeout from nid=%i, dtname=%s",
erp.src_node_id.get(), DataType::getDataTypeFullName());
cancel();
invokeCallback(result);
}
else
{
assert(0);
cancel();
}
}
template <typename DataType_, typename Callback_>
int ServiceClient<DataType_, Callback_>::call(NodeID server_node_id, const RequestType& request)
{
cancel();
if (!isCallbackValid())
{
UAVCAN_TRACE("ServiceClient", "Invalid callback");
return -ErrInvalidParam;
}
/*
* Common procedures that don't depend on the struct data type
*/
TransferID transfer_id;
const int prep_res =
prepareToCall(SubscriberType::getNode(), DataType::getDataTypeFullName(), server_node_id, transfer_id);
if (prep_res < 0)
{
UAVCAN_TRACE("ServiceClient", "Failed to prepare the call, error: %i", prep_res);
cancel();
return prep_res;
}
/*
* Starting the subscriber
*/
const int subscriber_res = SubscriberType::startAsServiceResponseListener();
if (subscriber_res < 0)
{
UAVCAN_TRACE("ServiceClient", "Failed to start the subscriber, error: %i", subscriber_res);
cancel();
return subscriber_res;
}
/*
* Configuring the listener so it will accept only the matching response
*/
TransferListenerType* const tl = SubscriberType::getTransferListener();
if (!tl)
{
assert(0); // Must have been created
cancel();
return -ErrLogic;
}
const typename TransferListenerType::ExpectedResponseParams erp(server_node_id, transfer_id);
tl->setExpectedResponseParams(erp);
/*
* Publishing the request
*/
const int publisher_res = publisher_.publish(request, TransferTypeServiceRequest, server_node_id, transfer_id);
if (!publisher_res)
{
cancel();
}
return publisher_res;
}
template <typename DataType_, typename Callback_>
void ServiceClient<DataType_, Callback_>::cancel()
{
pending_ = false;
SubscriberType::stop();
DeadlineHandler::stop();
TransferListenerType* const tl = SubscriberType::getTransferListener();
if (tl)
{
tl->stopAcceptingAnything();
}
}
}
libuavcan/src/node/uc_service_client.cpp
+48
View File
@@ -0,0 +1,48 @@
/*
* Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
*/
#include <uavcan/node/service_client.hpp>
namespace uavcan
{
int ServiceClientBase::prepareToCall(INode& node, const char* dtname, NodeID server_node_id,
TransferID& out_transfer_id)
{
pending_ = true;
/*
* Determining the Data Type ID
*/
GlobalDataTypeRegistry::instance().freeze();
const DataTypeDescriptor* const descr = GlobalDataTypeRegistry::instance().find(DataTypeKindService, dtname);
if (!descr)
{
UAVCAN_TRACE("ServiceClient", "Type [%s] is not registered", dtname);
return -ErrUnknownDataType;
}
/*
* Determining the Transfer ID
*/
const OutgoingTransferRegistryKey otr_key(descr->getID(), TransferTypeServiceRequest, server_node_id);
const MonotonicTime otr_deadline = node.getMonotonicTime() + TransferSender::getDefaultMaxTransferInterval();
TransferID* const otr_tid =
node.getDispatcher().getOutgoingTransferRegistry().accessOrCreate(otr_key, otr_deadline);
if (!otr_tid)
{
UAVCAN_TRACE("ServiceClient", "OTR access failure, dtd=%s", descr->toString().c_str());
return -ErrMemory;
}
out_transfer_id = *otr_tid;
otr_tid->increment();
/*
* Registering the deadline handler
*/
DeadlineHandler::startWithDelay(request_timeout_);
return 0;
}
}