mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-01 14:20:34 +08:00
Pavel Kirienko
58 lines
1.7 KiB
C++
58 lines
1.7 KiB
C++
/*
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* Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
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*/
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#include <uavcan/node/service_client.hpp>
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namespace uavcan
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{
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int ServiceClientBase::prepareToCall(INode& node, const char* dtname, NodeID server_node_id,
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TransferID& out_transfer_id)
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{
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pending_ = true;
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/*
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* Making sure we're not going to get transport error because of invalid input data
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*/
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if (!server_node_id.isUnicast() || (server_node_id == node.getNodeID()))
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{
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UAVCAN_TRACE("ServiceClient", "Invalid Server Node ID");
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return -ErrInvalidParam;
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}
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/*
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* Determining the Data Type ID
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*/
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GlobalDataTypeRegistry::instance().freeze();
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const DataTypeDescriptor* const descr = GlobalDataTypeRegistry::instance().find(DataTypeKindService, dtname);
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if (!descr)
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{
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UAVCAN_TRACE("ServiceClient", "Type [%s] is not registered", dtname);
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return -ErrUnknownDataType;
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}
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/*
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* Determining the Transfer ID
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*/
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const OutgoingTransferRegistryKey otr_key(descr->getID(), TransferTypeServiceRequest, server_node_id);
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const MonotonicTime otr_deadline = node.getMonotonicTime() + TransferSender::getDefaultMaxTransferInterval();
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TransferID* const otr_tid =
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node.getDispatcher().getOutgoingTransferRegistry().accessOrCreate(otr_key, otr_deadline);
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if (!otr_tid)
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{
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UAVCAN_TRACE("ServiceClient", "OTR access failure, dtd=%s", descr->toString().c_str());
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return -ErrMemory;
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}
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out_transfer_id = *otr_tid;
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otr_tid->increment();
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/*
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* Registering the deadline handler
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*/
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DeadlineHandler::startWithDelay(request_timeout_);
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return 0;
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}
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}
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