abstract_node.hpp

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/*
 * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
 */

#ifndef UAVCAN_NODE_ABSTRACT_NODE_HPP_INCLUDED
#define UAVCAN_NODE_ABSTRACT_NODE_HPP_INCLUDED

#include <uavcan/build_config.hpp>
#include <uavcan/dynamic_memory.hpp>
#include <uavcan/node/scheduler.hpp>

namespace uavcan
{
class UAVCAN_EXPORT INode
{
public:
    virtual ~INode() { }
    virtual IPoolAllocator& getAllocator() = 0;
    virtual Scheduler& getScheduler() = 0;
    virtual const Scheduler& getScheduler() const = 0;
    virtual void registerInternalFailure(const char* msg) = 0;

    Dispatcher& getDispatcher()             { return getScheduler().getDispatcher(); }
    const Dispatcher& getDispatcher() const { return getScheduler().getDispatcher(); }

    ISystemClock& getSystemClock()         { return getScheduler().getSystemClock(); }
    MonotonicTime getMonotonicTime() const { return getScheduler().getMonotonicTime(); }
    UtcTime getUtcTime()             const { return getScheduler().getUtcTime(); }

    NodeID getNodeID() const { return getScheduler().getDispatcher().getNodeID(); }

    bool setNodeID(NodeID nid)
    {
        return getScheduler().getDispatcher().setNodeID(nid);
    }

    bool isPassiveMode() const { return getScheduler().getDispatcher().isPassiveMode(); }

    int spin(MonotonicTime deadline)
    {
        return getScheduler().spin(deadline);
    }

    int spin(MonotonicDuration duration)
    {
        return getScheduler().spin(getMonotonicTime() + duration);
    }

    int spinOnce()
    {
        return getScheduler().spinOnce();
    }

    int injectTxFrame(const CanFrame& frame, MonotonicTime tx_deadline, uint8_t iface_mask,
                      CanIOFlags flags = 0)
    {
        return getDispatcher().getCanIOManager().send(frame, tx_deadline, MonotonicTime(), iface_mask, flags);
    }

#if !UAVCAN_TINY

    void removeRxFrameListener()                       { getDispatcher().removeRxFrameListener(); }
    void installRxFrameListener(IRxFrameListener* lst) { getDispatcher().installRxFrameListener(lst); }
#endif
};

}

#endif // UAVCAN_NODE_ABSTRACT_NODE_HPP_INCLUDED