#include <node_status_provider.hpp>

Inheritance diagram for uavcan::NodeStatusProvider:

[legend]

Public Types
typedef StorageType< typename protocol::GetNodeInfo::Response::FieldTypes::name >::Type	NodeName

typedef StorageType< typename protocol::NodeStatus::FieldTypes::vendor_specific_status_code >::Type	VendorSpecificStatusCode

Public Member Functions
int	forcePublish ()

IAdHocNodeStatusUpdater *	getAdHocNodeStatusUpdater () const

const protocol::HardwareVersion &	getHardwareVersion () const

uint8_t	getHealth () const

uint8_t	getMode () const

const NodeName &	getName () const

const protocol::SoftwareVersion &	getSoftwareVersion () const

uavcan::MonotonicDuration	getStatusPublicationPeriod () const

VendorSpecificStatusCode	getVendorSpecificStatusCode () const

	NodeStatusProvider (INode &node)

void	setAdHocNodeStatusUpdater (IAdHocNodeStatusUpdater *updater)

void	setHardwareVersion (const protocol::HardwareVersion &version)

void	setHealth (uint8_t code)

void	setHealthCritical ()

void	setHealthError ()

void	setHealthOk ()

void	setHealthWarning ()

void	setMode (uint8_t code)

void	setModeInitialization ()

void	setModeMaintenance ()

void	setModeOffline ()

void	setModeOperational ()

void	setModeSoftwareUpdate ()

void	setName (const NodeName &name)

void	setSoftwareVersion (const protocol::SoftwareVersion &version)

void	setStatusPublicationPeriod (uavcan::MonotonicDuration period)

void	setVendorSpecificStatusCode (VendorSpecificStatusCode code)

int	startAndPublish (const TransferPriority priority=TransferPriority::Default)

Private Types
typedef MethodBinder< NodeStatusProvider , void(NodeStatusProvider::)(const protocol::GetNodeInfo::Request &, protocol::GetNodeInfo::Response &)>	GetNodeInfoCallback

Private Member Functions
INode &	getNode ()

void	handleGetNodeInfoRequest (const protocol::GetNodeInfo::Request &, protocol::GetNodeInfo::Response &rsp)

virtual void	handleTimerEvent (const TimerEvent &)

bool	isNodeInfoInitialized () const

int	publish ()

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)

Private Attributes
IAdHocNodeStatusUpdater *	ad_hoc_status_updater_

const MonotonicTime	creation_timestamp_

ServiceServer< protocol::GetNodeInfo, GetNodeInfoCallback >	gni_srv_

protocol::GetNodeInfo::Response	node_info_

Publisher< protocol::NodeStatus >	node_status_pub_

Detailed Description

Provides the status and basic information about this node to other network participants.

Usually the application does not need to deal with this class directly - it's instantiated by the node class.

Default values:

health - OK
mode - INITIALIZATION

Definition at line 51 of file node_status_provider.hpp.

Member Typedef Documentation

◆ GetNodeInfoCallback

typedef MethodBinder<NodeStatusProvider*, void (NodeStatusProvider::*)(const protocol::GetNodeInfo::Request&, protocol::GetNodeInfo::Response&)> uavcan::NodeStatusProvider::GetNodeInfoCallback

private

Definition at line 55 of file node_status_provider.hpp.

◆ NodeName

typedef StorageType<typename protocol::GetNodeInfo::Response::FieldTypes::name>::Type uavcan::NodeStatusProvider::NodeName

Definition at line 79 of file node_status_provider.hpp.

◆ VendorSpecificStatusCode

typedef StorageType<typename protocol::NodeStatus::FieldTypes::vendor_specific_status_code>::Type uavcan::NodeStatusProvider::VendorSpecificStatusCode

Definition at line 77 of file node_status_provider.hpp.

Constructor & Destructor Documentation

◆ NodeStatusProvider()

uavcan::NodeStatusProvider::NodeStatusProvider ( INode & node )

inlineexplicit

Definition at line 81 of file node_status_provider.hpp.

Member Function Documentation

◆ forcePublish()

int uavcan::NodeStatusProvider::forcePublish ( )

inline

Publish the message uavcan.protocol.NodeStatus right now, out of schedule. Returns negative error code.

Definition at line 105 of file node_status_provider.hpp.

◆ getAdHocNodeStatusUpdater()

IAdHocNodeStatusUpdater* uavcan::NodeStatusProvider::getAdHocNodeStatusUpdater ( ) const

inline

Definition at line 122 of file node_status_provider.hpp.

◆ getHardwareVersion()

const protocol::HardwareVersion& uavcan::NodeStatusProvider::getHardwareVersion ( ) const

inline

Definition at line 167 of file node_status_provider.hpp.

◆ getHealth()

uint8_t uavcan::NodeStatusProvider::getHealth ( ) const

inline

Local node health code control.

Definition at line 127 of file node_status_provider.hpp.

◆ getMode()

uint8_t uavcan::NodeStatusProvider::getMode ( ) const

inline

Local node mode code control.

Definition at line 137 of file node_status_provider.hpp.

◆ getName()

const NodeName& uavcan::NodeStatusProvider::getName ( ) const

inline

Local node name control. Can be set only once before the provider is started. The provider will refuse to start if the node name is not set.

Definition at line 159 of file node_status_provider.hpp.

◆ getNode()

INode& uavcan::NodeStatusProvider::getNode ( )

inlineprivate

Definition at line 66 of file node_status_provider.hpp.

◆ getSoftwareVersion()

const protocol::SoftwareVersion& uavcan::NodeStatusProvider::getSoftwareVersion ( ) const

inline

Node version information. Can be set only once before the provider is started.

Definition at line 166 of file node_status_provider.hpp.

◆ getStatusPublicationPeriod()

uavcan::MonotonicDuration uavcan::NodeStatusProvider::getStatusPublicationPeriod ( ) const

Definition at line 112 of file uc_node_status_provider.cpp.

◆ getVendorSpecificStatusCode()

VendorSpecificStatusCode uavcan::NodeStatusProvider::getVendorSpecificStatusCode ( ) const

inline

Definition at line 149 of file node_status_provider.hpp.

◆ handleGetNodeInfoRequest()

void uavcan::NodeStatusProvider::handleGetNodeInfoRequest	(	const protocol::GetNodeInfo::Request &	,
		protocol::GetNodeInfo::Response &	rsp
	)

private

Definition at line 50 of file uc_node_status_provider.cpp.

◆ handleTimerEvent()

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

privatevirtual

Implement this method in your class to receive callbacks.

Implements uavcan::TimerBase.

Definition at line 29 of file uc_node_status_provider.cpp.

◆ isNodeInfoInitialized()

bool uavcan::NodeStatusProvider::isNodeInfoInitialized ( ) const

private

Definition at line 12 of file uc_node_status_provider.cpp.

◆ publish()

int uavcan::NodeStatusProvider::publish ( )

private

Definition at line 18 of file uc_node_status_provider.cpp.

◆ setAdHocNodeStatusUpdater()

void uavcan::NodeStatusProvider::setAdHocNodeStatusUpdater ( IAdHocNodeStatusUpdater * updater )

Configure the optional handler that is invoked before every node status message is emitted. By default no handler is installed. It is allowed to pass a null pointer, that will disable the ad-hoc update feature. IAdHocNodeStatusUpdater

Definition at line 117 of file uc_node_status_provider.cpp.

◆ setHardwareVersion()

void uavcan::NodeStatusProvider::setHardwareVersion ( const protocol::HardwareVersion & version )

Definition at line 153 of file uc_node_status_provider.cpp.

◆ setHealth()

void uavcan::NodeStatusProvider::setHealth ( uint8_t code )

Definition at line 122 of file uc_node_status_provider.cpp.

◆ setHealthCritical()

void uavcan::NodeStatusProvider::setHealthCritical ( )

inline

Definition at line 132 of file node_status_provider.hpp.

◆ setHealthError()

void uavcan::NodeStatusProvider::setHealthError ( )

inline

Definition at line 131 of file node_status_provider.hpp.

◆ setHealthOk()

void uavcan::NodeStatusProvider::setHealthOk ( )

inline

Definition at line 129 of file node_status_provider.hpp.

◆ setHealthWarning()

void uavcan::NodeStatusProvider::setHealthWarning ( )

inline

Definition at line 130 of file node_status_provider.hpp.

◆ setMode()

void uavcan::NodeStatusProvider::setMode ( uint8_t code )

Definition at line 127 of file uc_node_status_provider.cpp.

◆ setModeInitialization()

void uavcan::NodeStatusProvider::setModeInitialization ( )

inline

Definition at line 140 of file node_status_provider.hpp.

◆ setModeMaintenance()

void uavcan::NodeStatusProvider::setModeMaintenance ( )

inline

Definition at line 141 of file node_status_provider.hpp.

◆ setModeOffline()

void uavcan::NodeStatusProvider::setModeOffline ( )

inline

Definition at line 143 of file node_status_provider.hpp.

◆ setModeOperational()

void uavcan::NodeStatusProvider::setModeOperational ( )

inline

Definition at line 139 of file node_status_provider.hpp.

◆ setModeSoftwareUpdate()

void uavcan::NodeStatusProvider::setModeSoftwareUpdate ( )

inline

Definition at line 142 of file node_status_provider.hpp.

◆ setName()

void uavcan::NodeStatusProvider::setName ( const NodeName & name )

Definition at line 137 of file uc_node_status_provider.cpp.

◆ setSoftwareVersion()

void uavcan::NodeStatusProvider::setSoftwareVersion ( const protocol::SoftwareVersion & version )

Definition at line 145 of file uc_node_status_provider.cpp.

◆ setStatusPublicationPeriod()

void uavcan::NodeStatusProvider::setStatusPublicationPeriod ( uavcan::MonotonicDuration period )

Allows to override default publishing rate for uavcan.protocol.NodeStatus. Refer to the DSDL definition of uavcan.protocol.NodeStatus to see what is the default rate. Doesn't fail; if the value is outside of acceptable range, a closest valid value will be used instead.

Definition at line 96 of file uc_node_status_provider.cpp.

◆ setVendorSpecificStatusCode()

void uavcan::NodeStatusProvider::setVendorSpecificStatusCode ( VendorSpecificStatusCode code )

Local node vendor-specific status code control.

Definition at line 132 of file uc_node_status_provider.cpp.

◆ startAndPublish()

int uavcan::NodeStatusProvider::startAndPublish ( const TransferPriority priority = TransferPriority::Default )

Starts the provider and immediately broadcasts uavcan.protocol.NodeStatus. Returns negative error code.

Definition at line 58 of file uc_node_status_provider.cpp.

Member Data Documentation

◆ ad_hoc_status_updater_

IAdHocNodeStatusUpdater* uavcan::NodeStatusProvider::ad_hoc_status_updater_

private

Definition at line 64 of file node_status_provider.hpp.

◆ creation_timestamp_

const MonotonicTime uavcan::NodeStatusProvider::creation_timestamp_

private

Definition at line 57 of file node_status_provider.hpp.

◆ gni_srv_

ServiceServer<protocol::GetNodeInfo, GetNodeInfoCallback> uavcan::NodeStatusProvider::gni_srv_

private

Definition at line 60 of file node_status_provider.hpp.

◆ node_info_

protocol::GetNodeInfo::Response uavcan::NodeStatusProvider::node_info_

private

Definition at line 62 of file node_status_provider.hpp.

◆ node_status_pub_

Publisher<protocol::NodeStatus> uavcan::NodeStatusProvider::node_status_pub_

private

Definition at line 59 of file node_status_provider.hpp.

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

Public Types

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ GetNodeInfoCallback

◆ NodeName

◆ VendorSpecificStatusCode

Constructor & Destructor Documentation

◆ NodeStatusProvider()

Member Function Documentation

◆ forcePublish()

◆ getAdHocNodeStatusUpdater()

◆ getHardwareVersion()

◆ getHealth()

◆ getMode()

◆ getName()

◆ getNode()

◆ getSoftwareVersion()

◆ getStatusPublicationPeriod()

◆ getVendorSpecificStatusCode()

◆ handleGetNodeInfoRequest()

◆ handleTimerEvent()

◆ isNodeInfoInitialized()

◆ publish()

◆ setAdHocNodeStatusUpdater()

◆ setHardwareVersion()

◆ setHealth()

◆ setHealthCritical()

◆ setHealthError()

◆ setHealthOk()

◆ setHealthWarning()

◆ setMode()

◆ setModeInitialization()

◆ setModeMaintenance()

◆ setModeOffline()

◆ setModeOperational()

◆ setModeSoftwareUpdate()

◆ setName()

◆ setSoftwareVersion()

◆ setStatusPublicationPeriod()

◆ setVendorSpecificStatusCode()

◆ startAndPublish()

Member Data Documentation

◆ ad_hoc_status_updater_

◆ creation_timestamp_

◆ gni_srv_

◆ node_info_

◆ node_status_pub_