uavcan::GenericPublisher< DataSpec, DataStruct > Class Template Reference

#include <generic_publisher.hpp>

Inheritance diagram for uavcan::GenericPublisher< DataSpec, DataStruct >:

Classes
struct	ZeroTransferBuffer

Public Member Functions
	GenericPublisher (INode &node, MonotonicDuration tx_timeout, MonotonicDuration max_transfer_interval=TransferSender::getDefaultMaxTransferInterval())
int	init ()
int	init (TransferPriority priority)
int	publish (const DataStruct &message, TransferType transfer_type, NodeID dst_node_id, MonotonicTime blocking_deadline=MonotonicTime())
int	publish (const DataStruct &message, TransferType transfer_type, NodeID dst_node_id, TransferID tid, MonotonicTime blocking_deadline=MonotonicTime())
	~GenericPublisher ()
Public Member Functions inherited from uavcan::GenericPublisherBase
void	allowAnonymousTransfers ()
INode &	getNode () const
TransferPriority	getPriority () const
MonotonicDuration	getTxTimeout () const
void	setPriority (const TransferPriority prio)
void	setTxTimeout (MonotonicDuration tx_timeout)

Private Types
typedef Select< DataStruct::MaxBitLen==0, ZeroTransferBuffer, StaticTransferBuffer< BitLenToByteLen< DataStruct::MaxBitLen >::Result > >::Result	Buffer

Private Member Functions
int	checkInit ()
int	doEncode (const DataStruct &message, ITransferBuffer &buffer) const
int	genericPublish (const DataStruct &message, TransferType transfer_type, NodeID dst_node_id, TransferID *tid, MonotonicTime blocking_deadline)

Additional Inherited Members
Static Public Member Functions inherited from uavcan::GenericPublisherBase
static MonotonicDuration	getMaxTxTimeout ()
static MonotonicDuration	getMinTxTimeout ()
Protected Member Functions inherited from uavcan::GenericPublisherBase
int	doInit (DataTypeKind dtkind, const char *dtname)
int	genericPublish (const StaticTransferBufferImpl &buffer, TransferType transfer_type, NodeID dst_node_id, TransferID *tid, MonotonicTime blocking_deadline)
	GenericPublisherBase (INode &node, MonotonicDuration tx_timeout, MonotonicDuration max_transfer_interval)
TransferSender &	getTransferSender ()
const TransferSender &	getTransferSender () const
MonotonicTime	getTxDeadline () const
bool	isInited () const
	~GenericPublisherBase ()

Detailed Description

template<typename DataSpec, typename DataStruct>
class uavcan::GenericPublisher< DataSpec, DataStruct >

Generic publisher, suitable for messages and services. DataSpec - data type specification class DataStruct - instantiable class

Definition at line 85 of file generic_publisher.hpp.

Member Typedef Documentation

Buffer

template<typename DataSpec, typename DataStruct>

typedef Select<DataStruct::MaxBitLen == 0, ZeroTransferBuffer, StaticTransferBuffer<BitLenToByteLen<DataStruct::MaxBitLen>::Result> >::Result uavcan::GenericPublisher< DataSpec, DataStruct >::Buffer

private

Definition at line 94 of file generic_publisher.hpp.

Constructor & Destructor Documentation

GenericPublisher()

template<typename DataSpec, typename DataStruct>

uavcan::GenericPublisher< DataSpec, DataStruct >::GenericPublisher ( INode &  node, MonotonicDuration  tx_timeout, MonotonicDuration  max_transfer_interval = TransferSender::getDefaultMaxTransferInterval()  )

inline

Parameters

max_transfer_interval

Maximum expected time interval between subsequent publications. Leave default.

Definition at line 107 of file generic_publisher.hpp.

~GenericPublisher()

template<typename DataSpec, typename DataStruct>

uavcan::GenericPublisher< DataSpec, DataStruct >::~GenericPublisher ( )

inline

Definition at line 112 of file generic_publisher.hpp.

Member Function Documentation

checkInit()

template<typename DataSpec , typename DataStruct >

int uavcan::GenericPublisher< DataSpec, DataStruct >::checkInit ( )

private

Definition at line 148 of file generic_publisher.hpp.

doEncode()

template<typename DataSpec , typename DataStruct>

int uavcan::GenericPublisher< DataSpec, DataStruct >::doEncode ( const DataStruct &  message, ITransferBuffer &  buffer  ) const

private

Definition at line 159 of file generic_publisher.hpp.

genericPublish()

template<typename DataSpec , typename DataStruct>

int uavcan::GenericPublisher< DataSpec, DataStruct >::genericPublish ( const DataStruct &  message, TransferType  transfer_type, NodeID  dst_node_id, TransferID *  tid, MonotonicTime  blocking_deadline  )

private

Definition at line 173 of file generic_publisher.hpp.

init() [1/2]

template<typename DataSpec, typename DataStruct>

int uavcan::GenericPublisher< DataSpec, DataStruct >::init ( )

inline

Init method can be called prior first publication, but it's not necessary because the publisher can be automatically initialized ad-hoc.

Definition at line 118 of file generic_publisher.hpp.

init() [2/2]

template<typename DataSpec, typename DataStruct>

int uavcan::GenericPublisher< DataSpec, DataStruct >::init ( TransferPriority  priority )

inline

This overload allows to set the priority; otherwise it's the same.

Definition at line 126 of file generic_publisher.hpp.

publish() [1/2]

template<typename DataSpec, typename DataStruct>

int uavcan::GenericPublisher< DataSpec, DataStruct >::publish ( const DataStruct &  message, TransferType  transfer_type, NodeID  dst_node_id, MonotonicTime  blocking_deadline = MonotonicTime()  )

inline

Definition at line 132 of file generic_publisher.hpp.

publish() [2/2]

template<typename DataSpec, typename DataStruct>

int uavcan::GenericPublisher< DataSpec, DataStruct >::publish ( const DataStruct &  message, TransferType  transfer_type, NodeID  dst_node_id, TransferID  tid, MonotonicTime  blocking_deadline = MonotonicTime()  )

inline

Definition at line 138 of file generic_publisher.hpp.

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

• generic_publisher.hpp