static void addInTree(AstNode* nodep, bool linkable) {
#ifndef VL_LEAK_CHECKS
if (!linkable) return; // save some time, else the map will get huge!
#endif
NodeMap::iterator iter = s_nodes.find(nodep);
if (iter == s_nodes.end()) {
#ifdef VL_LEAK_CHECKS
nodep->v3fatalSrc("AstNode is in tree, but not allocated\n");
#endif
} else {
if (!(iter->second & FLAG_ALLOCATED)) {
#ifdef VL_LEAK_CHECKS
nodep->v3fatalSrc("AstNode is in tree, but not allocated\n");
#endif
}
if (iter->second & FLAG_IN_TREE) {
nodep->v3fatalSrc("AstNode is already in tree at another location\n");
}
}
int or_flags = FLAG_IN_TREE | (linkable?FLAG_LINKABLE:0);
if (iter == s_nodes.end()) {
s_nodes.insert(make_pair(nodep,or_flags));
} else {
iter->second |= or_flags;
}
}
void handleNodeStatus(const ReceivedDataStructure<protocol::NodeStatus>& msg)
{
if (!needToQuery(msg.getSrcNodeID()))
{
return;
}
NodeData* data = node_map_.access(msg.getSrcNodeID());
if (data == NULL)
{
trace(TraceDiscoveryNewNodeFound, msg.getSrcNodeID().get());
data = node_map_.insert(msg.getSrcNodeID(), NodeData());
if (data == NULL)
{
getNode().registerInternalFailure("NodeDiscoverer OOM");
return;
}
}
UAVCAN_ASSERT(data != NULL);
if (msg.uptime_sec < data->last_seen_uptime)
{
trace(TraceDiscoveryNodeRestartDetected, msg.getSrcNodeID().get());
data->num_get_node_info_attempts = 0;
}
data->last_seen_uptime = msg.uptime_sec;
if (!isRunning())
{
startPeriodic(MonotonicDuration::fromMSec(TimerPollIntervalMs));
trace(TraceDiscoveryTimerStart, getPeriod().toUSec());
}
}
void CKadHandler::HandleNodeRes(const CVariant& NodeRes, CKadNode* pNode, CComChannel* pChannel)
{
if(GetParent<CKademlia>()->Cfg()->GetBool("DebugRT"))
LogLine(LOG_DEBUG, L"Recived 'Node Response' from %s", pNode->GetID().ToHex().c_str());
CVariant List = NodeRes["LIST"];
if(List.Count() > (uint32)GetParent<CKademlia>()->Cfg()->GetInt("NodeReqCount"))
throw CException(LOG_ERROR, L"Node returned more nodes than requested (spam)");
SKadData* pData = pChannel->GetData<SKadData>();
// Note: if pData->pLookup is NULL this was just a bootstrap request
NodeMap Nodes;
for(uint32 i = 0; i<List.Count(); i++)
{
CPointer<CKadNode> pNewNode = new CKadNode(GetParent<CKademlia>()->Root());
pNewNode->Load(List.At(i));
if(GetParent<CKademlia>()->Root()->AddNode(pNewNode) && pData->pLookup)
{
CUInt128 uDistance = pData->pLookup->GetID() ^ pNewNode->GetID();
Nodes.insert(NodeMap::value_type(uDistance, pNewNode));
}
}
if(pData->pLookup)
GetParent<CKademlia>()->Manager()->AddNodes(pData->pLookup, pNode, pChannel, Nodes);
}
static void addNewed(const AstNode* nodep) {
// Called by operator new on any node - only if VL_LEAK_CHECKS
if (debug()) cout<<"-nodeNew: "<<(void*)(nodep)<<endl;
NodeMap::iterator iter = s_nodes.find(nodep);
if (iter!=s_nodes.end() || (iter->second & FLAG_ALLOCATED)) {
((AstNode*)(nodep))->v3fatalSrc("Newing AstNode object that is already allocated\n");
}
if (iter == s_nodes.end()) {
s_nodes.insert(make_pair(nodep,FLAG_ALLOCATED));
}
}
std::pair<long, float> AntipoleInternalNode::visitNode(const std::vector<float>& image, float, NodeMap& node_map) const
{
node_map.insert(std::make_pair(HelperFunctions::distance2(image, left->getCenter()) - left->getRadius(), left));
node_map.insert(std::make_pair(HelperFunctions::distance2(image, right->getCenter()) - right->getRadius(), right));
return std::make_pair(-1, std::numeric_limits<float>::max());
}
