sub_node.hpp

00001 /*
00002  * Copyright (C) 2015 Pavel Kirienko <pavel.kirienko@gmail.com>
00003  */
00004 
00005 #ifndef UAVCAN_SUB_NODE_NODE_HPP_INCLUDED
00006 #define UAVCAN_SUB_NODE_NODE_HPP_INCLUDED
00007 
00008 #include <cassert>
00009 #include <uavcan/build_config.hpp>
00010 #include <uavcan/node/abstract_node.hpp>
00011 
00012 #if UAVCAN_TINY
00013 # error "This functionality is not available in tiny mode"
00014 #endif
00015 
00016 namespace uavcan
00017 {
00018 /**
00019  * This node object can be used in multiprocess UAVCAN nodes.
00020  * Please refer to the @ref Node<> for documentation concerning the template arguments; refer to the tutorials
00021  * to lean how to use libuavcan in multiprocess applications.
00022  */
00023 template <std::size_t MemPoolSize = 0>
00024 class UAVCAN_EXPORT SubNode : public INode
00025 {
00026     typedef typename
00027         Select<(MemPoolSize > 0),
00028                PoolAllocator<MemPoolSize, MemPoolBlockSize>, // If pool size is specified, use default allocator
00029                IPoolAllocator&                               // Otherwise use reference to user-provided allocator
00030               >::Result Allocator;
00031 
00032     Allocator pool_allocator_;
00033     Scheduler scheduler_;
00034 
00035     uint64_t internal_failure_cnt_;
00036 
00037 protected:
00038     virtual void registerInternalFailure(const char* msg)
00039     {
00040         internal_failure_cnt_++;
00041         UAVCAN_TRACE("Node", "Internal failure: %s", msg);
00042         (void)msg;
00043     }
00044 
00045 public:
00046     /**
00047      * This overload is only valid if MemPoolSize > 0.
00048      */
00049     SubNode(ICanDriver& can_driver,
00050             ISystemClock& system_clock) :
00051         scheduler_(can_driver, pool_allocator_, system_clock),
00052         internal_failure_cnt_(0)
00053     { }
00054 
00055     /**
00056      * This overload is only valid if MemPoolSize == 0.
00057      */
00058     SubNode(ICanDriver& can_driver,
00059             ISystemClock& system_clock,
00060             IPoolAllocator& allocator) :
00061         pool_allocator_(allocator),
00062         scheduler_(can_driver, pool_allocator_, system_clock),
00063         internal_failure_cnt_(0)
00064     { }
00065 
00066     virtual typename RemoveReference<Allocator>::Type& getAllocator() { return pool_allocator_; }
00067 
00068     virtual Scheduler& getScheduler() { return scheduler_; }
00069     virtual const Scheduler& getScheduler() const { return scheduler_; }
00070 
00071     uint64_t getInternalFailureCount() const { return internal_failure_cnt_; }
00072 };
00073 
00074 }
00075 
00076 #endif // Include guard