uavcan::DynamicNodeIDClient Class Reference

#include <dynamic_node_id_client.hpp>

Inheritance diagram for uavcan::DynamicNodeIDClient:

Public Types
typedef protocol::HardwareVersion::FieldTypes::unique_id	UniqueID

Public Member Functions
	DynamicNodeIDClient (INode &node)
NodeID	getAllocatedNodeID () const
NodeID	getAllocatorNodeID () const
bool	isAllocationComplete () const
int	start (const UniqueID &unique_id, const NodeID preferred_node_id=NodeID::Broadcast, const TransferPriority transfer_priority=TransferPriority::OneHigherThanLowest)

Private Types
typedef MethodBinder< DynamicNodeIDClient *, void(DynamicNodeIDClient::*)(const ReceivedDataStructure< protocol::dynamic_node_id::Allocation > &)>	AllocationCallback
enum	Mode { ModeWaitingForTimeSlot, ModeDelayBeforeFollowup, NumModes }

Private Member Functions
void	handleAllocation (const ReceivedDataStructure< protocol::dynamic_node_id::Allocation > &msg)
virtual void	handleTimerEvent (const TimerEvent &)
void	restartTimer (const Mode mode)
void	terminate ()
Private Member Functions inherited from uavcan::TimerBase
MonotonicTime	getDeadline () const
MonotonicDuration	getPeriod () const
Scheduler &	getScheduler () const
bool	isRunning () const
void	startOneShotWithDeadline (MonotonicTime deadline)
void	startOneShotWithDelay (MonotonicDuration delay)
void	startPeriodic (MonotonicDuration period)
void	stop ()
	TimerBase (INode &node)

Static Private Member Functions
static MonotonicDuration	getRandomDuration (uint32_t lower_bound_msec, uint32_t upper_bound_msec)

Private Attributes
NodeID	allocated_node_id_
NodeID	allocator_node_id_
Publisher< protocol::dynamic_node_id::Allocation >	dnida_pub_
Subscriber< protocol::dynamic_node_id::Allocation, AllocationCallback >	dnida_sub_
NodeID	preferred_node_id_
uint8_t	size_of_received_unique_id_
uint8_t	unique_id_ [protocol::HardwareVersion::FieldTypes::unique_id::MaxSize]

Detailed Description

This class implements client-side logic of dynamic node ID allocation procedure.

Once started, the object will be publishing dynamic node ID allocation requests at the default frequency defined by the specification, until a Node ID is granted by the allocator.

If the local node is equipped with redundant CAN interfaces, all of them will be used for publishing requests and listening for responses.

Once dynamic allocation is complete (or not needed anymore), the object can be deleted.

Note that this class uses std::rand(), which must be correctly seeded before use.

Definition at line 31 of file dynamic_node_id_client.hpp.

Member Typedef Documentation

AllocationCallback

typedef MethodBinder<DynamicNodeIDClient*, void (DynamicNodeIDClient::*) (const ReceivedDataStructure<protocol::dynamic_node_id::Allocation>&)> uavcan::DynamicNodeIDClient::AllocationCallback

private

Definition at line 36 of file dynamic_node_id_client.hpp.

UniqueID

typedef protocol::HardwareVersion::FieldTypes::unique_id uavcan::DynamicNodeIDClient::UniqueID

Definition at line 66 of file dynamic_node_id_client.hpp.

Member Enumeration Documentation

Mode

enum uavcan::DynamicNodeIDClient::Mode

private

Enumerator
ModeWaitingForTimeSlot
ModeDelayBeforeFollowup
NumModes

Definition at line 38 of file dynamic_node_id_client.hpp.

Constructor & Destructor Documentation

DynamicNodeIDClient()

uavcan::DynamicNodeIDClient::DynamicNodeIDClient ( INode &  node )

inline

Definition at line 68 of file dynamic_node_id_client.hpp.

Member Function Documentation

getAllocatedNodeID()

NodeID uavcan::DynamicNodeIDClient::getAllocatedNodeID ( ) const

inline

This method allows to retrieve the node ID that was allocated to the local node. If no node ID was allocated yet, the returned node ID will be invalid (non-unicast).

Returns

If allocation is complete, a valid unicast node ID will be returned. If allocation is not complete yet, a non-unicast node ID will be returned.

Definition at line 102 of file dynamic_node_id_client.hpp.

getAllocatorNodeID()

NodeID uavcan::DynamicNodeIDClient::getAllocatorNodeID ( ) const

inline

This method allows to retrieve node ID of the allocator that granted our Node ID. If no node ID was allocated yet, the returned node ID will be invalid (non-unicast).

Returns

If allocation is complete, a valid unicast node ID will be returned. If allocation is not complete yet, an non-unicast node ID will be returned.

Definition at line 110 of file dynamic_node_id_client.hpp.

getRandomDuration()

MonotonicDuration uavcan::DynamicNodeIDClient::getRandomDuration ( uint32_t  lower_bound_msec, uint32_t  upper_bound_msec  )

staticprivate

Definition at line 18 of file uc_dynamic_node_id_client.cpp.

handleAllocation()

void uavcan::DynamicNodeIDClient::handleAllocation ( const ReceivedDataStructure< protocol::dynamic_node_id::Allocation > &  msg )

private

Definition at line 92 of file uc_dynamic_node_id_client.cpp.

handleTimerEvent()

void uavcan::DynamicNodeIDClient::handleTimerEvent ( const TimerEvent &  event )

privatevirtual

Implement this method in your class to receive callbacks.

Implements uavcan::TimerBase.

Definition at line 43 of file uc_dynamic_node_id_client.cpp.

isAllocationComplete()

bool uavcan::DynamicNodeIDClient::isAllocationComplete ( ) const

inline

Use this method to determine when allocation is complete.

Definition at line 94 of file dynamic_node_id_client.hpp.

restartTimer()

void uavcan::DynamicNodeIDClient::restartTimer ( const Mode  mode )

private

Definition at line 26 of file uc_dynamic_node_id_client.cpp.

start()

int uavcan::DynamicNodeIDClient::start	(	const UniqueID &	unique_id,
		const NodeID	preferred_node_id = NodeID::Broadcast,
		const TransferPriority	transfer_priority = TransferPriority::OneHigherThanLowest
	)

Parameters

unique_id	Unique ID of the local node. Must be the same as in the hardware version struct.
preferred_node_id	Node ID that the application would like to take; set to broadcast (zero) if the application doesn't have any preference (this is default).
transfer_priority	Transfer priority, Normal by default.

Returns

Zero on success Negative error code on failure -ErrLogic if 1. the node is not in passive mode or 2. the client is already started

Definition at line 147 of file uc_dynamic_node_id_client.cpp.

terminate()

void uavcan::DynamicNodeIDClient::terminate ( )

private

Definition at line 11 of file uc_dynamic_node_id_client.cpp.

Member Data Documentation

allocated_node_id_

NodeID uavcan::DynamicNodeIDClient::allocated_node_id_

private

Definition at line 52 of file dynamic_node_id_client.hpp.

allocator_node_id_

NodeID uavcan::DynamicNodeIDClient::allocator_node_id_

private

Definition at line 53 of file dynamic_node_id_client.hpp.

dnida_pub_

Publisher<protocol::dynamic_node_id::Allocation> uavcan::DynamicNodeIDClient::dnida_pub_

private

Definition at line 45 of file dynamic_node_id_client.hpp.

dnida_sub_

Subscriber<protocol::dynamic_node_id::Allocation, AllocationCallback> uavcan::DynamicNodeIDClient::dnida_sub_

private

Definition at line 46 of file dynamic_node_id_client.hpp.

preferred_node_id_

NodeID uavcan::DynamicNodeIDClient::preferred_node_id_

private

Definition at line 51 of file dynamic_node_id_client.hpp.

size_of_received_unique_id_

uint8_t uavcan::DynamicNodeIDClient::size_of_received_unique_id_

private

Definition at line 49 of file dynamic_node_id_client.hpp.

unique_id_

uint8_t uavcan::DynamicNodeIDClient::unique_id_[protocol::HardwareVersion::FieldTypes::unique_id::MaxSize]

private

Definition at line 48 of file dynamic_node_id_client.hpp.

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

• dynamic_node_id_client.hpp
• uc_dynamic_node_id_client.cpp