Parameterize the entire publisher class over the message type for enh…

…anced type safety.
107-systems · Dec 22, 2022 · 18c6ffd · 18c6ffd
1 parent 7ddae95
commit 18c6ffd
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Showing 9 changed files with 19 additions and 15 deletions.
diff --git a/examples/OpenCyphal-Blink/OpenCyphal-Blink.ino b/examples/OpenCyphal-Blink/OpenCyphal-Blink.ino
@@ -64,7 +64,7 @@ ArduinoMCP2515 mcp2515([]() { digitalWrite(MKRCAN_MCP2515_CS_PIN, LOW); },
 
 CyphalHeap<Node::DEFAULT_O1HEAP_SIZE> node_heap;
 Node node_hdl(node_heap.data(), node_heap.size());
-Publisher heartbeat_pub = node_hdl.create_publisher(Heartbeat_1_0<>::PORT_ID);
+Publisher<Heartbeat_1_0<>> heartbeat_pub = node_hdl.create_publisher<Heartbeat_1_0<>>(Heartbeat_1_0<>::PORT_ID);
 
 Heartbeat_1_0<> hb_msg;
 

diff --git a/examples/OpenCyphal-GNSS-Node/OpenCyphal-GNSS-Node.ino b/examples/OpenCyphal-GNSS-Node/OpenCyphal-GNSS-Node.ino
@@ -101,7 +101,7 @@ ArduinoMCP2515 mcp2515([]() { digitalWrite(MKRCAN_MCP2515_CS_PIN, LOW); },
 
 CyphalHeap<Node::DEFAULT_O1HEAP_SIZE> node_heap;
 Node node_hdl(node_heap.data(), node_heap.size());
-Publisher heartbeat_pub = node_hdl.create_publisher(uavcan::node::Heartbeat_1_0<>::PORT_ID);
+Publisher<uavcan::node::Heartbeat_1_0<>> heartbeat_pub = node_hdl.create_publisher<Heartbeat_1_0<>>(uavcan::node::Heartbeat_1_0<>::PORT_ID);
 
 ArduinoNmeaParser nmea_parser(gnss::onRmcUpdate, gnss::onGgaUpdate);
 

diff --git a/examples/OpenCyphal-Heartbeat-Publisher/OpenCyphal-Heartbeat-Publisher.ino b/examples/OpenCyphal-Heartbeat-Publisher/OpenCyphal-Heartbeat-Publisher.ino
@@ -41,7 +41,7 @@ ArduinoMCP2515 mcp2515([]() { digitalWrite(MKRCAN_MCP2515_CS_PIN, LOW); },
 
 CyphalHeap<Node::DEFAULT_O1HEAP_SIZE> node_heap;
 Node node_hdl(node_heap.data(), node_heap.size());
-Publisher heartbeat_pub = node_hdl.create_publisher(Heartbeat_1_0<>::PORT_ID);
+Publisher<Heartbeat_1_0<>> heartbeat_pub = node_hdl.create_publisher<Heartbeat_1_0<>>(Heartbeat_1_0<>::PORT_ID);
 
 Heartbeat_1_0<> hb_msg;
 

diff --git a/examples/OpenCyphal-ToF-Distance-Sensor-Node/OpenCyphal-ToF-Distance-Sensor-Node.ino b/examples/OpenCyphal-ToF-Distance-Sensor-Node/OpenCyphal-ToF-Distance-Sensor-Node.ino
@@ -83,6 +83,8 @@ static SPISettings  const MCP2515x_SPI_SETTING{10000000, MSBFIRST, SPI_MODE0};
 static CanardNodeID const OPEN_CYPHAL_NODE_ID = 42;
 static CanardPortID const OPEN_CYPHAL_ID_DISTANCE_DATA = 1001U;
 
+typedef uavcan::primitive::scalar::Real32_1_0<OPEN_CYPHAL_ID_DISTANCE_DATA> DistanceMessageType;
+
 static OpenCyphalNodeData const OPEN_CYPHAL_NODE_INITIAL_DATA =
 {
   Heartbeat_1_0<>::Mode::INITIALIZATION,
@@ -120,8 +122,8 @@ ArduinoMCP2515 mcp2515([]()
 
 CyphalHeap<Node::DEFAULT_O1HEAP_SIZE> node_heap;
 Node node_hdl(node_heap.data(), node_heap.size(), OPEN_CYPHAL_NODE_ID);
-Publisher heartbeat_pub = node_hdl.create_publisher(Heartbeat_1_0<>::PORT_ID);
-Publisher tof_pub = node_hdl.create_publisher(OPEN_CYPHAL_ID_DISTANCE_DATA);
+Publisher<Heartbeat_1_0<>> heartbeat_pub = node_hdl.create_publisher<Heartbeat_1_0<>>(Heartbeat_1_0<>::PORT_ID);
+Publisher<DistanceMessageType> tof_pub = node_hdl.create_publisher<DistanceMessageType>(OPEN_CYPHAL_ID_DISTANCE_DATA);
 
 OpenCyphalNodeData node_data = OPEN_CYPHAL_NODE_INITIAL_DATA;
 OpenCyphalNodeConfiguration node_config = OPEN_CYPHAL_NODE_INITIAL_CONFIGURATION;
@@ -296,7 +298,6 @@ void publish_tofDistance(drone::unit::Length const l)
 {
   DBG_INFO("[%05lu] Distance = %.3f m", millis(), l.value());
 
-  typedef uavcan::primitive::scalar::Real32_1_0<OPEN_CYPHAL_ID_DISTANCE_DATA> DistanceMessageType;
   DistanceMessageType tof_distance_msg;
   tof_distance_msg.data.value = l.value();
 

diff --git a/src/Node.cpp b/src/Node.cpp
@@ -34,11 +34,6 @@ Node::Node(uint8_t * heap_ptr,
  * PUBLIC MEMBER FUNCTIONS
  **************************************************************************************/
 
-Publisher Node::create_publisher(CanardPortID const port_id)
-{
-  return std::make_shared<impl::Publisher>(_canard_hdl, _canard_tx_queue, port_id);
-}
-
 void Node::spinSome(CanFrameTransmitFunc const tx_func)
 {
   processRxQueue();

diff --git a/src/Node.hpp b/src/Node.hpp
@@ -76,7 +76,7 @@ class Node
   inline void setNodeId(CanardNodeID const node_id) { _canard_hdl.node_id = node_id; }
   inline CanardNodeID getNodeId() const { return _canard_hdl.node_id; }
 
-  Publisher create_publisher(CanardPortID const port_id);
+  template <typename T> Publisher<T> create_publisher(CanardPortID const port_id);
 
   /* Must be called from the application to process
    * all received CAN frames.

diff --git a/src/Node.ipp b/src/Node.ipp
@@ -9,6 +9,12 @@
  * PUBLIC MEMBER FUNCTIONS
  **************************************************************************************/
 
+template <typename T>
+Publisher<T> Node::create_publisher(CanardPortID const port_id)
+{
+  return std::make_shared<impl::Publisher<T>>(_canard_hdl, _canard_tx_queue, port_id);
+}
+
 template <typename T>
 bool Node::subscribe(OnTransferReceivedFunc func)
 {

diff --git a/src/Publisher.hpp b/src/Publisher.hpp
@@ -25,6 +25,7 @@ namespace impl
  * CLASS DECLARATION
  **************************************************************************************/
 
+template <typename T>
 class Publisher
 {
 public:
@@ -35,7 +36,7 @@ class Publisher
   , _transfer_id{0}
   { }
 
-  template <typename T> bool publish(T const & msg);
+  bool publish(T const & msg);
 
 private:
   CanardInstance & _canard_hdl;
@@ -54,7 +55,8 @@ class Publisher
  * TYPEDEF
  **************************************************************************************/
 
-typedef std::shared_ptr<impl::Publisher> Publisher;
+template <typename T>
+using Publisher = std::shared_ptr<impl::Publisher<T>>;
 
 /**************************************************************************************
  * TEMPLATE IMPLEMENTATION

diff --git a/src/Publisher.ipp b/src/Publisher.ipp
@@ -23,7 +23,7 @@ namespace impl
  **************************************************************************************/
 
 template<typename T>
-bool Publisher::publish(T const & msg)
+bool Publisher<T>::publish(T const & msg)
 {
   CanardTransferMetadata const transfer_metadata =
   {