Size optimized ServiceClient<>

libuavcan/src/node/uc_service_client.cpp

@@ -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;
+}
+
+}