uc_generic_publisher.cpp

00001 /*
00002  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
00003  */
00004 
00005 #include <uavcan/node/generic_publisher.hpp>
00006 
00007 namespace uavcan
00008 {
00009 
00010 bool GenericPublisherBase::isInited() const
00011 {
00012     return sender_.isInitialized();
00013 }
00014 
00015 int GenericPublisherBase::doInit(DataTypeKind dtkind, const char* dtname, CanTxQueue::Qos qos)
00016 {
00017     if (isInited())
00018     {
00019         return 0;
00020     }
00021 
00022     GlobalDataTypeRegistry::instance().freeze();
00023 
00024     const DataTypeDescriptor* const descr = GlobalDataTypeRegistry::instance().find(dtkind, dtname);
00025     if (descr == UAVCAN_NULLPTR)
00026     {
00027         UAVCAN_TRACE("GenericPublisher", "Type [%s] is not registered", dtname);
00028         return -ErrUnknownDataType;
00029     }
00030 
00031     sender_.init(*descr, qos);
00032 
00033     return 0;
00034 }
00035 
00036 MonotonicTime GenericPublisherBase::getTxDeadline() const
00037 {
00038     return node_.getMonotonicTime() + tx_timeout_;
00039 }
00040 
00041 int GenericPublisherBase::genericPublish(const StaticTransferBufferImpl& buffer, TransferType transfer_type,
00042                                          NodeID dst_node_id, TransferID* tid, MonotonicTime blocking_deadline)
00043 {
00044     if (tid)
00045     {
00046         return sender_.send(buffer.getRawPtr(), buffer.getMaxWritePos(), getTxDeadline(),
00047                             blocking_deadline, transfer_type, dst_node_id, *tid);
00048     }
00049     else
00050     {
00051         return sender_.send(buffer.getRawPtr(), buffer.getMaxWritePos(), getTxDeadline(),
00052                             blocking_deadline, transfer_type, dst_node_id);
00053     }
00054 }
00055 
00056 void GenericPublisherBase::setTxTimeout(MonotonicDuration tx_timeout)
00057 {
00058     tx_timeout = max(tx_timeout, getMinTxTimeout());
00059     tx_timeout = min(tx_timeout, getMaxTxTimeout());
00060     tx_timeout_ = tx_timeout;
00061 }
00062 
00063 }