dynamic_node_id_client.hpp

Go to the documentation of this file.

/*
 * Copyright (C) 2015 Pavel Kirienko <pavel.kirienko@gmail.com>
 */

#ifndef UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_CLIENT_HPP_INCLUDED
#define UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_CLIENT_HPP_INCLUDED

#include <uavcan/node/subscriber.hpp>
#include <uavcan/node/publisher.hpp>
#include <uavcan/node/timer.hpp>
#include <uavcan/util/method_binder.hpp>
#include <uavcan/build_config.hpp>
#include <uavcan/protocol/dynamic_node_id/Allocation.hpp>
#include <uavcan/protocol/HardwareVersion.hpp>

namespace uavcan
{
class UAVCAN_EXPORT DynamicNodeIDClient : private TimerBase
{
    typedef MethodBinder<DynamicNodeIDClient*,
                         void (DynamicNodeIDClient::*)
                             (const ReceivedDataStructure<protocol::dynamic_node_id::Allocation>&)>
        AllocationCallback;

    enum Mode
    {
        ModeWaitingForTimeSlot,
        ModeDelayBeforeFollowup,
        NumModes
    };

    Publisher<protocol::dynamic_node_id::Allocation> dnida_pub_;
    Subscriber<protocol::dynamic_node_id::Allocation, AllocationCallback> dnida_sub_;

    uint8_t unique_id_[protocol::HardwareVersion::FieldTypes::unique_id::MaxSize];
    uint8_t size_of_received_unique_id_;

    NodeID preferred_node_id_;
    NodeID allocated_node_id_;
    NodeID allocator_node_id_;

    void terminate();

    static MonotonicDuration getRandomDuration(uint32_t lower_bound_msec, uint32_t upper_bound_msec);

    void restartTimer(const Mode mode);

    virtual void handleTimerEvent(const TimerEvent&);

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

public:
    typedef protocol::HardwareVersion::FieldTypes::unique_id UniqueID;

    DynamicNodeIDClient(INode& node)
        : TimerBase(node)
        , dnida_pub_(node)
        , dnida_sub_(node)
#if UAVCAN_CPP_VERSION >= UAVCAN_CPP11
        , unique_id_{0}
#endif
        , size_of_received_unique_id_(0)
    { }

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

    bool isAllocationComplete() const { return getAllocatedNodeID().isUnicast(); }

    NodeID getAllocatedNodeID() const { return allocated_node_id_; }

    NodeID getAllocatorNodeID() const { return allocator_node_id_; }
};

}

#endif // UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_CLIENT_HPP_INCLUDED