#include <node.hpp>

Inheritance diagram for uavcan::Node< MemPoolSize >:

Public Member Functions
virtual RemoveReference< Allocator >::Type &	getAllocator ()

const protocol::HardwareVersion &	getHardwareVersion () const

uint64_t	getInternalFailureCount () const

Logger &	getLogger ()

const NodeStatusProvider::NodeName &	getName () const

NodeStatusProvider &	getNodeStatusProvider ()

RestartRequestServer &	getRestartRequestServer ()

virtual Scheduler &	getScheduler ()

virtual const Scheduler &	getScheduler () const

const protocol::SoftwareVersion &	getSoftwareVersion () const

bool	isStarted () const

	Node (ICanDriver &can_driver, ISystemClock &system_clock)

	Node (ICanDriver &can_driver, ISystemClock &system_clock, IPoolAllocator &allocator)

void	setHardwareVersion (const protocol::HardwareVersion &version)

void	setHealthCritical ()

void	setHealthError ()

void	setHealthOk ()

void	setHealthWarning ()

void	setModeInitialization ()

void	setModeMaintenance ()

void	setModeOfflineAndPublish ()

void	setModeOperational ()

void	setModeSoftwareUpdate ()

void	setName (const NodeStatusProvider::NodeName &name)

void	setRestartRequestHandler (IRestartRequestHandler *handler)

void	setSoftwareVersion (const protocol::SoftwareVersion &version)

void	setVendorSpecificStatusCode (NodeStatusProvider::VendorSpecificStatusCode code)

int	spin (MonotonicDuration duration)

int	spin (MonotonicTime deadline)

int	spinOnce ()

int	start (const TransferPriority node_status_transfer_priority=TransferPriority::Default)


template<typename... Args>
void	logDebug (const char source, const char format, Args... args)

template<typename... Args>
void	logInfo (const char source, const char format, Args... args)

template<typename... Args>
void	logWarning (const char source, const char format, Args... args)

template<typename... Args>
void	logError (const char source, const char format, Args... args)

Public Member Functions inherited from uavcan::INode
Dispatcher &	getDispatcher ()

const Dispatcher &	getDispatcher () const

MonotonicTime	getMonotonicTime () const

NodeID	getNodeID () const

ISystemClock &	getSystemClock ()

UtcTime	getUtcTime () const

int	injectTxFrame (const CanFrame &frame, MonotonicTime tx_deadline, uint8_t iface_mask, CanIOFlags flags=0)

void	installRxFrameListener (IRxFrameListener *lst)

bool	isPassiveMode () const

void	removeRxFrameListener ()

bool	setNodeID (NodeID nid)

int	spin (MonotonicDuration duration)

int	spin (MonotonicTime deadline)

int	spinOnce ()

virtual	~INode ()

Protected Member Functions
virtual void	registerInternalFailure (const char *msg)

Private Types
typedef Select<(MemPoolSize > 0), PoolAllocator< MemPoolSize, MemPoolBlockSize >, IPoolAllocator & >::Result	Allocator

Private Member Functions
void	commonInit ()

Private Attributes
uint64_t	internal_failure_cnt_

Allocator	pool_allocator_

DataTypeInfoProvider	proto_dtp_

Logger	proto_logger_

NodeStatusProvider	proto_nsp_

RestartRequestServer	proto_rrs_

TransportStatsProvider	proto_tsp_

Scheduler	scheduler_

bool	started_

Detailed Description

template<std::size_t MemPoolSize = 0>
class uavcan::Node< MemPoolSize >

This is the top-level node API. A custom node class can be implemented if needed, in which case it shall inherit INode.

Template Parameters

MemPoolSize Size of memory pool for this node, in bytes. Please refer to the documentation for details. If this value is zero, the constructor will accept a reference to user-provided allocator.

Definition at line 38 of file node.hpp.

Member Typedef Documentation

◆ Allocator

template<std::size_t MemPoolSize = 0>

typedef Select<(MemPoolSize > 0), PoolAllocator<MemPoolSize, MemPoolBlockSize>, IPoolAllocator& >::Result uavcan::Node< MemPoolSize >::Allocator

private

Definition at line 44 of file node.hpp.

Constructor & Destructor Documentation

◆ Node() [1/2]

template<std::size_t MemPoolSize = 0>

uavcan::Node< MemPoolSize >::Node	(	ICanDriver &	can_driver,
		ISystemClock &	system_clock
	)

inline

This overload is only valid if MemPoolSize > 0.

Definition at line 82 of file node.hpp.

◆ Node() [2/2]

template<std::size_t MemPoolSize = 0>

uavcan::Node< MemPoolSize >::Node	(	ICanDriver &	can_driver,
		ISystemClock &	system_clock,
		IPoolAllocator &	allocator
	)

inline

This overload is only valid if MemPoolSize == 0.

Definition at line 99 of file node.hpp.

Member Function Documentation

◆ commonInit()

template<std::size_t MemPoolSize = 0>

void uavcan::Node< MemPoolSize >::commonInit ( )

inlineprivate

Definition at line 60 of file node.hpp.

◆ getAllocator()

template<std::size_t MemPoolSize = 0>

virtual RemoveReference<Allocator>::Type& uavcan::Node< MemPoolSize >::getAllocator ( )

inlinevirtual

Implements uavcan::INode.

Definition at line 115 of file node.hpp.

◆ getHardwareVersion()

template<std::size_t MemPoolSize = 0>

const protocol::HardwareVersion& uavcan::Node< MemPoolSize >::getHardwareVersion ( ) const

inline

Definition at line 207 of file node.hpp.

◆ getInternalFailureCount()

template<std::size_t MemPoolSize = 0>

uint64_t uavcan::Node< MemPoolSize >::getInternalFailureCount ( ) const

inline

Definition at line 149 of file node.hpp.

◆ getLogger()

template<std::size_t MemPoolSize = 0>

Logger& uavcan::Node< MemPoolSize >::getLogger ( )

inline

Use this method to configure logging.

Definition at line 266 of file node.hpp.

◆ getName()

template<std::size_t MemPoolSize = 0>

const NodeStatusProvider::NodeName& uavcan::Node< MemPoolSize >::getName ( ) const

inline

Gets/sets the node name, e.g. "com.example.product_name". The node name can be set only once. The name must be set before the node is started, otherwise the node will refuse to start up.

Definition at line 166 of file node.hpp.

◆ getNodeStatusProvider()

template<std::size_t MemPoolSize = 0>

NodeStatusProvider& uavcan::Node< MemPoolSize >::getNodeStatusProvider ( )

inline

Definition at line 209 of file node.hpp.

◆ getRestartRequestServer()

template<std::size_t MemPoolSize = 0>

RestartRequestServer& uavcan::Node< MemPoolSize >::getRestartRequestServer ( )

inline

Definition at line 217 of file node.hpp.

◆ getScheduler() [1/2]

template<std::size_t MemPoolSize = 0>

virtual Scheduler& uavcan::Node< MemPoolSize >::getScheduler ( )

inlinevirtual

Implements uavcan::INode.

Definition at line 117 of file node.hpp.

◆ getScheduler() [2/2]

template<std::size_t MemPoolSize = 0>

virtual const Scheduler& uavcan::Node< MemPoolSize >::getScheduler ( ) const

inlinevirtual

Implements uavcan::INode.

Definition at line 118 of file node.hpp.

◆ getSoftwareVersion()

template<std::size_t MemPoolSize = 0>

const protocol::SoftwareVersion& uavcan::Node< MemPoolSize >::getSoftwareVersion ( ) const

inline

Definition at line 206 of file node.hpp.

◆ isStarted()

template<std::size_t MemPoolSize = 0>

bool uavcan::Node< MemPoolSize >::isStarted ( ) const

inline

Definition at line 147 of file node.hpp.

◆ logDebug()

template<std::size_t MemPoolSize = 0>

template<typename... Args>

void uavcan::Node< MemPoolSize >::logDebug	(	const char *	source,
		const char *	format,
		Args...	args
	)

inline

Node logging. Logging calls are passed directly into the Logger instance. Type safe log formatting is supported only in C++11 mode.

Definition at line 228 of file node.hpp.

◆ logError()

template<std::size_t MemPoolSize = 0>

template<typename... Args>

void uavcan::Node< MemPoolSize >::logError	(	const char *	source,
		const char *	format,
		Args...	args
	)

inline

Definition at line 246 of file node.hpp.

◆ logInfo()

template<std::size_t MemPoolSize = 0>

template<typename... Args>

void uavcan::Node< MemPoolSize >::logInfo	(	const char *	source,
		const char *	format,
		Args...	args
	)

inline

Definition at line 234 of file node.hpp.

◆ logWarning()

template<std::size_t MemPoolSize = 0>

template<typename... Args>

void uavcan::Node< MemPoolSize >::logWarning	(	const char *	source,
		const char *	format,
		Args...	args
	)

inline

Definition at line 240 of file node.hpp.

◆ registerInternalFailure()

template<std::size_t MemPoolSize = 0>

virtual void uavcan::Node< MemPoolSize >::registerInternalFailure ( const char * msg )

inlineprotectedvirtual

Implements uavcan::INode.

Definition at line 67 of file node.hpp.

◆ setHardwareVersion()

template<std::size_t MemPoolSize = 0>

void uavcan::Node< MemPoolSize >::setHardwareVersion ( const protocol::HardwareVersion & version )

inline

Definition at line 204 of file node.hpp.

◆ setHealthCritical()

template<std::size_t MemPoolSize = 0>

void uavcan::Node< MemPoolSize >::setHealthCritical ( )

inline

Definition at line 175 of file node.hpp.

◆ setHealthError()

template<std::size_t MemPoolSize = 0>

void uavcan::Node< MemPoolSize >::setHealthError ( )

inline

Definition at line 174 of file node.hpp.

◆ setHealthOk()

template<std::size_t MemPoolSize = 0>

void uavcan::Node< MemPoolSize >::setHealthOk ( )

inline

Node health code helpers.

Definition at line 172 of file node.hpp.

◆ setHealthWarning()

template<std::size_t MemPoolSize = 0>

void uavcan::Node< MemPoolSize >::setHealthWarning ( )

inline

Definition at line 173 of file node.hpp.

◆ setModeInitialization()

template<std::size_t MemPoolSize = 0>

void uavcan::Node< MemPoolSize >::setModeInitialization ( )

inline

Definition at line 182 of file node.hpp.

◆ setModeMaintenance()

template<std::size_t MemPoolSize = 0>

void uavcan::Node< MemPoolSize >::setModeMaintenance ( )

inline

Definition at line 183 of file node.hpp.

◆ setModeOfflineAndPublish()

template<std::size_t MemPoolSize = 0>

void uavcan::Node< MemPoolSize >::setModeOfflineAndPublish ( )

inline

Definition at line 186 of file node.hpp.

◆ setModeOperational()

template<std::size_t MemPoolSize = 0>

void uavcan::Node< MemPoolSize >::setModeOperational ( )

inline

Node mode code helpers. Note that INITIALIZATION is the default mode; the application has to manually set it to OPERATIONAL.

Definition at line 181 of file node.hpp.

◆ setModeSoftwareUpdate()

template<std::size_t MemPoolSize = 0>

void uavcan::Node< MemPoolSize >::setModeSoftwareUpdate ( )

inline

Definition at line 184 of file node.hpp.

◆ setName()

template<std::size_t MemPoolSize = 0>

void uavcan::Node< MemPoolSize >::setName ( const NodeStatusProvider::NodeName & name )

inline

Definition at line 167 of file node.hpp.

◆ setRestartRequestHandler()

template<std::size_t MemPoolSize = 0>

void uavcan::Node< MemPoolSize >::setRestartRequestHandler ( IRestartRequestHandler * handler )

inline

Restart handler can be installed to handle external node restart requests (highly recommended).

Definition at line 215 of file node.hpp.

◆ setSoftwareVersion()

template<std::size_t MemPoolSize = 0>

void uavcan::Node< MemPoolSize >::setSoftwareVersion ( const protocol::SoftwareVersion & version )

inline

Gets/sets the node version information.

Definition at line 203 of file node.hpp.

◆ setVendorSpecificStatusCode()

template<std::size_t MemPoolSize = 0>

void uavcan::Node< MemPoolSize >::setVendorSpecificStatusCode ( NodeStatusProvider::VendorSpecificStatusCode code )

inline

Updates the vendor-specific status code.

Definition at line 195 of file node.hpp.

◆ spin() [1/2]

template<std::size_t MemPoolSize = 0>

int uavcan::Node< MemPoolSize >::spin ( MonotonicDuration duration )

inline

Definition at line 129 of file node.hpp.

◆ spin() [2/2]

template<std::size_t MemPoolSize = 0>

int uavcan::Node< MemPoolSize >::spin ( MonotonicTime deadline )

inline

Definition at line 120 of file node.hpp.

◆ spinOnce()

template<std::size_t MemPoolSize = 0>

int uavcan::Node< MemPoolSize >::spinOnce ( )

inline

Definition at line 138 of file node.hpp.

◆ start()

template<std::size_t MemPoolSize_>

int uavcan::Node< MemPoolSize_ >::start ( const TransferPriority node_status_transfer_priority = TransferPriority::Default )

Starts the node and publishes uavcan.protocol.NodeStatus immediately. Does not so anything if the node is already started. Once started, the node can't stop. If the node failed to start up, it's recommended to destroy the current node instance and start over. Returns negative error code.

Parameters

node_status_transfer_priority Transfer priority that will be used for outgoing NodeStatus messages. Normal priority is used by default.

Definition at line 274 of file node.hpp.

Member Data Documentation

◆ internal_failure_cnt_

template<std::size_t MemPoolSize = 0>

uint64_t uavcan::Node< MemPoolSize >::internal_failure_cnt_

private

Definition at line 57 of file node.hpp.

◆ pool_allocator_

template<std::size_t MemPoolSize = 0>

Allocator uavcan::Node< MemPoolSize >::pool_allocator_

private

Definition at line 46 of file node.hpp.

◆ proto_dtp_

template<std::size_t MemPoolSize = 0>

DataTypeInfoProvider uavcan::Node< MemPoolSize >::proto_dtp_

private

Definition at line 51 of file node.hpp.

◆ proto_logger_

template<std::size_t MemPoolSize = 0>

Logger uavcan::Node< MemPoolSize >::proto_logger_

private

Definition at line 52 of file node.hpp.

◆ proto_nsp_

template<std::size_t MemPoolSize = 0>

NodeStatusProvider uavcan::Node< MemPoolSize >::proto_nsp_

private

Definition at line 49 of file node.hpp.

◆ proto_rrs_

template<std::size_t MemPoolSize = 0>

RestartRequestServer uavcan::Node< MemPoolSize >::proto_rrs_

private

Definition at line 53 of file node.hpp.

◆ proto_tsp_

template<std::size_t MemPoolSize = 0>

TransportStatsProvider uavcan::Node< MemPoolSize >::proto_tsp_

private

Definition at line 54 of file node.hpp.

◆ scheduler_

template<std::size_t MemPoolSize = 0>

Scheduler uavcan::Node< MemPoolSize >::scheduler_

private

Definition at line 47 of file node.hpp.

◆ started_

template<std::size_t MemPoolSize = 0>

bool uavcan::Node< MemPoolSize >::started_

private

Definition at line 58 of file node.hpp.

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

node.hpp

Public Member Functions

Protected Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

template<std::size_t MemPoolSize = 0> class uavcan::Node< MemPoolSize >

Member Typedef Documentation

◆ Allocator

Constructor & Destructor Documentation

◆ Node() [1/2]

◆ Node() [2/2]

Member Function Documentation

◆ commonInit()

◆ getAllocator()

◆ getHardwareVersion()

◆ getInternalFailureCount()

◆ getLogger()

◆ getName()

◆ getNodeStatusProvider()

◆ getRestartRequestServer()

◆ getScheduler() [1/2]

◆ getScheduler() [2/2]

◆ getSoftwareVersion()

◆ isStarted()

◆ logDebug()

◆ logError()

◆ logInfo()

◆ logWarning()

◆ registerInternalFailure()

◆ setHardwareVersion()

◆ setHealthCritical()

◆ setHealthError()

◆ setHealthOk()

◆ setHealthWarning()

◆ setModeInitialization()

◆ setModeMaintenance()

◆ setModeOfflineAndPublish()

◆ setModeOperational()

◆ setModeSoftwareUpdate()

◆ setName()

◆ setRestartRequestHandler()

◆ setSoftwareVersion()

◆ setVendorSpecificStatusCode()

◆ spin() [1/2]

◆ spin() [2/2]

◆ spinOnce()

◆ start()

Member Data Documentation

◆ internal_failure_cnt_

◆ pool_allocator_

◆ proto_dtp_

◆ proto_logger_

◆ proto_nsp_

◆ proto_rrs_

◆ proto_tsp_

◆ scheduler_

◆ started_

template<std::size_t MemPoolSize = 0>
class uavcan::Node< MemPoolSize >