uavcan::Dispatcher Class Reference

#include <dispatcher.hpp>

Inheritance diagram for uavcan::Dispatcher:

Classes
class	ListenerRegistry

Public Member Functions
void	cleanup (MonotonicTime ts)
	Dispatcher (ICanDriver &driver, IPoolAllocator &allocator, ISystemClock &sysclock)
CanIOManager &	getCanIOManager ()
const CanIOManager &	getCanIOManager () const
LoopbackFrameListenerRegistry &	getLoopbackFrameListenerRegistry ()
NodeID	getNodeID () const
unsigned	getNumMessageListeners () const
unsigned	getNumServiceRequestListeners () const
unsigned	getNumServiceResponseListeners () const
OutgoingTransferRegistry &	getOutgoingTransferRegistry ()
IRxFrameListener *	getRxFrameListener () const
ISystemClock &	getSystemClock ()
const ISystemClock &	getSystemClock () const
TransferPerfCounter &	getTransferPerfCounter ()
const TransferPerfCounter &	getTransferPerfCounter () const
bool	hasPublisher (DataTypeID dtid) const
bool	hasServer (DataTypeID dtid) const
bool	hasSubscriber (DataTypeID dtid) const
void	installRxFrameListener (IRxFrameListener *listener)
bool	isPassiveMode () const
bool	registerMessageListener (TransferListener *listener)
bool	registerServiceRequestListener (TransferListener *listener)
bool	registerServiceResponseListener (TransferListener *listener)
void	removeRxFrameListener ()
int	send (const Frame &frame, MonotonicTime tx_deadline, MonotonicTime blocking_deadline, CanIOFlags flags, uint8_t iface_mask)
bool	setNodeID (NodeID nid)
int	spin (MonotonicTime deadline)
int	spinOnce ()
void	unregisterMessageListener (TransferListener *listener)
void	unregisterServiceRequestListener (TransferListener *listener)
void	unregisterServiceResponseListener (TransferListener *listener)
const LinkedListRoot< TransferListener > &	getListOfMessageListeners () const
const LinkedListRoot< TransferListener > &	getListOfServiceRequestListeners () const
const LinkedListRoot< TransferListener > &	getListOfServiceResponseListeners () const

Private Member Functions
void	handleFrame (const CanRxFrame &can_frame)
void	handleLoopbackFrame (const CanRxFrame &can_frame)
void	notifyRxFrameListener (const CanRxFrame &can_frame, CanIOFlags flags)
Private Member Functions inherited from uavcan::Noncopyable
	Noncopyable ()
	~Noncopyable ()

Private Attributes
CanIOManager	canio_
ListenerRegistry	lmsg_
LoopbackFrameListenerRegistry	loopback_listeners_
ListenerRegistry	lsrv_req_
ListenerRegistry	lsrv_resp_
OutgoingTransferRegistry	outgoing_transfer_reg_
TransferPerfCounter	perf_
IRxFrameListener *	rx_listener_
NodeID	self_node_id_
bool	self_node_id_is_set_
ISystemClock &	sysclock_

Detailed Description

This class performs low-level CAN frame routing.

Definition at line 80 of file dispatcher.hpp.

Constructor & Destructor Documentation

Dispatcher()

uavcan::Dispatcher::Dispatcher ( ICanDriver &  driver, IPoolAllocator &  allocator, ISystemClock &  sysclock  )

inline

Definition at line 136 of file dispatcher.hpp.

Member Function Documentation

cleanup()

void uavcan::Dispatcher::cleanup

(

MonotonicTime

ts

)

Definition at line 306 of file uc_dispatcher.cpp.

getCanIOManager() [1/2]

CanIOManager& uavcan::Dispatcher::getCanIOManager ( )

inline

Definition at line 234 of file dispatcher.hpp.

getCanIOManager() [2/2]

const CanIOManager& uavcan::Dispatcher::getCanIOManager ( ) const

inline

Definition at line 233 of file dispatcher.hpp.

getListOfMessageListeners()

const LinkedListRoot<TransferListener>& uavcan::Dispatcher::getListOfMessageListeners ( ) const

inline

These methods can be used to retreive lists of messages, service requests and service responses the dispatcher is currently listening to. Note that the list of service response listeners is very volatile, because a response listener will be removed from this list as soon as the corresponding service call is complete.

Definition at line 188 of file dispatcher.hpp.

getListOfServiceRequestListeners()

const LinkedListRoot<TransferListener>& uavcan::Dispatcher::getListOfServiceRequestListeners ( ) const

inline

Definition at line 192 of file dispatcher.hpp.

getListOfServiceResponseListeners()

const LinkedListRoot<TransferListener>& uavcan::Dispatcher::getListOfServiceResponseListeners ( ) const

inline

Definition at line 196 of file dispatcher.hpp.

getLoopbackFrameListenerRegistry()

LoopbackFrameListenerRegistry& uavcan::Dispatcher::getLoopbackFrameListenerRegistry ( )

inline

Definition at line 207 of file dispatcher.hpp.

getNodeID()

NodeID uavcan::Dispatcher::getNodeID ( ) const

inline

Node ID can be set only once. Non-unicast Node ID puts the node into passive mode.

Definition at line 222 of file dispatcher.hpp.

getNumMessageListeners()

unsigned uavcan::Dispatcher::getNumMessageListeners ( ) const

inline

Definition at line 177 of file dispatcher.hpp.

getNumServiceRequestListeners()

unsigned uavcan::Dispatcher::getNumServiceRequestListeners ( ) const

inline

Definition at line 178 of file dispatcher.hpp.

getNumServiceResponseListeners()

unsigned uavcan::Dispatcher::getNumServiceResponseListeners ( ) const

inline

Definition at line 179 of file dispatcher.hpp.

getOutgoingTransferRegistry()

OutgoingTransferRegistry& uavcan::Dispatcher::getOutgoingTransferRegistry ( )

inline

Definition at line 204 of file dispatcher.hpp.

getRxFrameListener()

IRxFrameListener* uavcan::Dispatcher::getRxFrameListener ( ) const

inline

Definition at line 209 of file dispatcher.hpp.

getSystemClock() [1/2]

ISystemClock& uavcan::Dispatcher::getSystemClock ( )

inline

Definition at line 231 of file dispatcher.hpp.

getSystemClock() [2/2]

const ISystemClock& uavcan::Dispatcher::getSystemClock ( ) const

inline

Definition at line 230 of file dispatcher.hpp.

getTransferPerfCounter() [1/2]

TransferPerfCounter& uavcan::Dispatcher::getTransferPerfCounter ( )

inline

Definition at line 237 of file dispatcher.hpp.

getTransferPerfCounter() [2/2]

const TransferPerfCounter& uavcan::Dispatcher::getTransferPerfCounter ( ) const

inline

Definition at line 236 of file dispatcher.hpp.

handleFrame()

void uavcan::Dispatcher::handleFrame ( const CanRxFrame &  can_frame )

private

Definition at line 149 of file uc_dispatcher.cpp.

handleLoopbackFrame()

void uavcan::Dispatcher::handleLoopbackFrame ( const CanRxFrame &  can_frame )

private

Definition at line 199 of file uc_dispatcher.cpp.

hasPublisher()

bool uavcan::Dispatcher::hasPublisher

(

DataTypeID

dtid

)

const

Definition at line 364 of file uc_dispatcher.cpp.

hasServer()

bool uavcan::Dispatcher::hasServer

(

DataTypeID

dtid

)

const

Definition at line 369 of file uc_dispatcher.cpp.

hasSubscriber()

bool uavcan::Dispatcher::hasSubscriber

(

DataTypeID

dtid

)

const

Definition at line 359 of file uc_dispatcher.cpp.

installRxFrameListener()

void uavcan::Dispatcher::installRxFrameListener ( IRxFrameListener *  listener )

inline

Definition at line 211 of file dispatcher.hpp.

isPassiveMode()

bool uavcan::Dispatcher::isPassiveMode ( ) const

inline

Refer to the specs to learn more about passive mode.

Definition at line 228 of file dispatcher.hpp.

notifyRxFrameListener()

void uavcan::Dispatcher::notifyRxFrameListener ( const CanRxFrame &  can_frame, CanIOFlags  flags  )

private

Definition at line 212 of file uc_dispatcher.cpp.

registerMessageListener()

bool uavcan::Dispatcher::registerMessageListener

(

TransferListener *

listener

)

Definition at line 314 of file uc_dispatcher.cpp.

registerServiceRequestListener()

bool uavcan::Dispatcher::registerServiceRequestListener

(

TransferListener *

listener

)

Definition at line 324 of file uc_dispatcher.cpp.

registerServiceResponseListener()

bool uavcan::Dispatcher::registerServiceResponseListener

(

TransferListener *

listener

)

Definition at line 334 of file uc_dispatcher.cpp.

removeRxFrameListener()

void uavcan::Dispatcher::removeRxFrameListener ( )

inline

Definition at line 210 of file dispatcher.hpp.

send()

int uavcan::Dispatcher::send	(	const Frame &	frame,
		MonotonicTime	tx_deadline,
		MonotonicTime	blocking_deadline,
		CanIOFlags	flags,
		uint8_t	iface_mask
	)

Refer to CanIOManager::send() for the parameter description

Definition at line 287 of file uc_dispatcher.cpp.

setNodeID()

bool uavcan::Dispatcher::setNodeID

(

NodeID

nid

)

Definition at line 374 of file uc_dispatcher.cpp.

spin()

int uavcan::Dispatcher::spin

(

MonotonicTime

deadline

)

This version returns strictly when the deadline is reached.

Definition at line 221 of file uc_dispatcher.cpp.

spinOnce()

int uavcan::Dispatcher::spinOnce

(

)

This version does not return until all available frames are processed.

Definition at line 252 of file uc_dispatcher.cpp.

unregisterMessageListener()

void uavcan::Dispatcher::unregisterMessageListener

(

TransferListener *

listener

)

Definition at line 344 of file uc_dispatcher.cpp.

unregisterServiceRequestListener()

void uavcan::Dispatcher::unregisterServiceRequestListener

(

TransferListener *

listener

)

Definition at line 349 of file uc_dispatcher.cpp.

unregisterServiceResponseListener()

void uavcan::Dispatcher::unregisterServiceResponseListener

(

TransferListener *

listener

)

Definition at line 354 of file uc_dispatcher.cpp.

Member Data Documentation

canio_

CanIOManager uavcan::Dispatcher::canio_

private

Definition at line 82 of file dispatcher.hpp.

lmsg_

ListenerRegistry uavcan::Dispatcher::lmsg_

private

Definition at line 117 of file dispatcher.hpp.

loopback_listeners_

LoopbackFrameListenerRegistry uavcan::Dispatcher::loopback_listeners_

private

Definition at line 122 of file dispatcher.hpp.

lsrv_req_

ListenerRegistry uavcan::Dispatcher::lsrv_req_

private

Definition at line 118 of file dispatcher.hpp.

lsrv_resp_

ListenerRegistry uavcan::Dispatcher::lsrv_resp_

private

Definition at line 119 of file dispatcher.hpp.

outgoing_transfer_reg_

OutgoingTransferRegistry uavcan::Dispatcher::outgoing_transfer_reg_

private

Definition at line 84 of file dispatcher.hpp.

perf_

TransferPerfCounter uavcan::Dispatcher::perf_

private

Definition at line 85 of file dispatcher.hpp.

rx_listener_

IRxFrameListener* uavcan::Dispatcher::rx_listener_

private

Definition at line 123 of file dispatcher.hpp.

self_node_id_

NodeID uavcan::Dispatcher::self_node_id_

private

Definition at line 126 of file dispatcher.hpp.

self_node_id_is_set_

bool uavcan::Dispatcher::self_node_id_is_set_

private

Definition at line 127 of file dispatcher.hpp.

sysclock_

ISystemClock& uavcan::Dispatcher::sysclock_

private

Definition at line 83 of file dispatcher.hpp.

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The documentation for this class was generated from the following files:

• dispatcher.hpp
• uc_dispatcher.cpp