NodeDiscoveryHandler Class Reference

Inheritance diagram for NodeDiscoveryHandler:

Classes
struct	NodeInfo

Public Member Functions
virtual bool	canDiscoverNewNodes () const
virtual NodeAwareness	checkNodeAwareness (uavcan::NodeID node_id) const
NodeInfo *	findNode (const UniqueID &unique_id)
NodeInfo *	findNode (const uavcan::NodeID &node_id)
virtual void	handleNewNodeDiscovery (const UniqueID *unique_id_or_null, uavcan::NodeID node_id)
	NodeDiscoveryHandler ()
Public Member Functions inherited from uavcan::dynamic_node_id_server::INodeDiscoveryHandler
virtual	~INodeDiscoveryHandler ()

Public Attributes
bool	can_discover
std::vector< NodeInfo >	nodes

Additional Inherited Members
Public Types inherited from uavcan::dynamic_node_id_server::INodeDiscoveryHandler
enum	NodeAwareness { NodeAwarenessUnknown, NodeAwarenessKnownButNotCommitted, NodeAwarenessKnownAndCommitted }

Detailed Description

Definition at line 20 of file node_discoverer.cpp.

Constructor & Destructor Documentation

NodeDiscoveryHandler()

NodeDiscoveryHandler::NodeDiscoveryHandler ( )

inline

Definition at line 35 of file node_discoverer.cpp.

Member Function Documentation

canDiscoverNewNodes()

virtual bool NodeDiscoveryHandler::canDiscoverNewNodes ( ) const

inlinevirtual

In order to avoid bus congestion, normally only leader can discover new nodes.

Implements uavcan::dynamic_node_id_server::INodeDiscoveryHandler.

Definition at line 37 of file node_discoverer.cpp.

checkNodeAwareness()

virtual NodeAwareness NodeDiscoveryHandler::checkNodeAwareness ( uavcan::NodeID  node_id ) const

inlinevirtual

It is OK to do full log traversal in this method, because the unique ID collector will cache the result when possible.

Implements uavcan::dynamic_node_id_server::INodeDiscoveryHandler.

Definition at line 42 of file node_discoverer.cpp.

findNode() [1/2]

NodeInfo* NodeDiscoveryHandler::findNode ( const UniqueID &  unique_id )

inline

Definition at line 63 of file node_discoverer.cpp.

findNode() [2/2]

NodeInfo* NodeDiscoveryHandler::findNode ( const uavcan::NodeID &  node_id )

inline

Definition at line 75 of file node_discoverer.cpp.

handleNewNodeDiscovery()

virtual void NodeDiscoveryHandler::handleNewNodeDiscovery ( const UniqueID *  unique_id_or_null, uavcan::NodeID  node_id  )

inlinevirtual

This method will be called when a new node responds to GetNodeInfo request. If this method fails to register the node, the node will be queried again later and this method will be invoked again. Unique ID will be UAVCAN_NULLPTR if the node is assumed to not implement the GetNodeInfo service.

Implements uavcan::dynamic_node_id_server::INodeDiscoveryHandler.

Definition at line 52 of file node_discoverer.cpp.

Member Data Documentation

can_discover

bool NodeDiscoveryHandler::can_discover

Definition at line 32 of file node_discoverer.cpp.

nodes

std::vector<NodeInfo> NodeDiscoveryHandler::nodes

Definition at line 33 of file node_discoverer.cpp.

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

• node_discoverer.cpp