publisher.hpp

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

#ifndef UAVCAN_NODE_PUBLISHER_HPP_INCLUDED
#define UAVCAN_NODE_PUBLISHER_HPP_INCLUDED

#include <uavcan/node/generic_publisher.hpp>

namespace uavcan
{
template <typename DataType_>
class UAVCAN_EXPORT Publisher : protected GenericPublisher<DataType_, DataType_>
{
    typedef GenericPublisher<DataType_, DataType_> BaseType;

public:
    typedef DataType_ DataType; 

    explicit Publisher(INode& node, MonotonicDuration tx_timeout = getDefaultTxTimeout(),
                       MonotonicDuration max_transfer_interval = TransferSender::getDefaultMaxTransferInterval())
        : BaseType(node, tx_timeout, max_transfer_interval)
    {
#if UAVCAN_DEBUG
        UAVCAN_ASSERT(getTxTimeout() == tx_timeout);  // Making sure default values are OK
#endif
        StaticAssert<DataTypeKind(DataType::DataTypeKind) == DataTypeKindMessage>::check();
    }

    int broadcast(const DataType& message)
    {
        return BaseType::publish(message, TransferTypeMessageBroadcast, NodeID::Broadcast);
    }

    int broadcast(const DataType& message, TransferID tid)
    {
        return BaseType::publish(message, TransferTypeMessageBroadcast, NodeID::Broadcast, tid);
    }

    static MonotonicDuration getDefaultTxTimeout() { return MonotonicDuration::fromMSec(100); }

    using BaseType::init;

    using BaseType::allowAnonymousTransfers;
    using BaseType::getTransferSender;
    using BaseType::getMinTxTimeout;
    using BaseType::getMaxTxTimeout;
    using BaseType::getTxTimeout;
    using BaseType::setTxTimeout;
    using BaseType::getPriority;
    using BaseType::setPriority;
    using BaseType::getNode;
};

}

#endif // UAVCAN_NODE_PUBLISHER_HPP_INCLUDED