uc_outgoing_transfer_registry.cpp

00001 /*
00002  * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
00003  */
00004 
00005 #include <uavcan/transport/outgoing_transfer_registry.hpp>
00006 
00007 namespace uavcan
00008 {
00009 /*
00010  * OutgoingTransferRegistryKey
00011  */
00012 #if UAVCAN_TOSTRING
00013 std::string OutgoingTransferRegistryKey::toString() const
00014 {
00015     char buf[40];
00016     (void)snprintf(buf, sizeof(buf), "dtid=%u tt=%u dnid=%u",
00017                    int(data_type_id_.get()), int(transfer_type_), int(destination_node_id_.get()));
00018     return std::string(buf);
00019 }
00020 #endif
00021 
00022 /*
00023  * OutgoingTransferRegistry
00024  */
00025 const MonotonicDuration OutgoingTransferRegistry::MinEntryLifetime = MonotonicDuration::fromMSec(2000);
00026 
00027 TransferID* OutgoingTransferRegistry::accessOrCreate(const OutgoingTransferRegistryKey& key,
00028                                                      MonotonicTime new_deadline)
00029 {
00030     UAVCAN_ASSERT(!new_deadline.isZero());
00031     Value* p = map_.access(key);
00032     if (p == UAVCAN_NULLPTR)
00033     {
00034         p = map_.insert(key, Value());
00035         if (p == UAVCAN_NULLPTR)
00036         {
00037             return UAVCAN_NULLPTR;
00038         }
00039         UAVCAN_TRACE("OutgoingTransferRegistry", "Created %s", key.toString().c_str());
00040     }
00041     p->deadline = new_deadline;
00042     return &p->tid;
00043 }
00044 
00045 bool OutgoingTransferRegistry::exists(DataTypeID dtid, TransferType tt) const
00046 {
00047     return UAVCAN_NULLPTR != map_.find(ExistenceCheckingPredicate(dtid, tt));
00048 }
00049 
00050 void OutgoingTransferRegistry::cleanup(MonotonicTime ts)
00051 {
00052     map_.removeAllWhere(DeadlineExpiredPredicate(ts));
00053 }
00054 
00055 }