panic_broadcaster.hpp

Go to the documentation of this file.

/*
 * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
 */
 
#ifndef UAVCAN_PROTOCOL_PANIC_BROADCASTER_HPP_INCLUDED
#define UAVCAN_PROTOCOL_PANIC_BROADCASTER_HPP_INCLUDED
 
#include <uavcan/debug.hpp>
#include <uavcan/node/publisher.hpp>
#include <uavcan/node/timer.hpp>
#include <uavcan/protocol/Panic.hpp>
 
namespace uavcan
{
class UAVCAN_EXPORT PanicBroadcaster : private TimerBase
{
    Publisher<protocol::Panic> pub_;
    protocol::Panic msg_;
 
    void publishOnce()
    {
        const int res = pub_.broadcast(msg_);
        if (res < 0)
        {
            pub_.getNode().registerInternalFailure("Panic pub failed");
        }
    }
 
    virtual void handleTimerEvent(const TimerEvent&)
    {
        publishOnce();
    }
 
public:
    explicit PanicBroadcaster(INode& node)
        : TimerBase(node)
        , pub_(node)
    { }
 
    void panic(const char* short_reason_description,
               MonotonicDuration broadcasting_period = MonotonicDuration::fromMSec(100),
               const TransferPriority priority = TransferPriority::Default)
    {
        msg_.reason_text.clear();
        const char* p = short_reason_description;
        while (p && *p)
        {
            if (msg_.reason_text.size() == msg_.reason_text.capacity())
            {
                break;
            }
            msg_.reason_text.push_back(protocol::Panic::FieldTypes::reason_text::ValueType(*p));
            p++;
        }
 
        UAVCAN_TRACE("PanicBroadcaster", "Panicking with reason '%s'", getReason().c_str());
 
        pub_.setTxTimeout(broadcasting_period);
        pub_.setPriority(priority);
 
        publishOnce();
        startPeriodic(broadcasting_period);
    }
 
    void dontPanic()    // Where's my towel
    {
        stop();
        msg_.reason_text.clear();
    }
 
    bool isPanicking() const { return isRunning(); }
 
    const typename protocol::Panic::FieldTypes::reason_text& getReason() const
    {
        return msg_.reason_text;
    }
};
 
}
 
#endif // UAVCAN_PROTOCOL_PANIC_BROADCASTER_HPP_INCLUDED