restart_request_server.hpp

Go to the documentation of this file.

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

#ifndef UAVCAN_PROTOCOL_RESTART_REQUEST_SERVER_HPP_INCLUDED
#define UAVCAN_PROTOCOL_RESTART_REQUEST_SERVER_HPP_INCLUDED

#include <uavcan/debug.hpp>
#include <uavcan/node/service_server.hpp>
#include <uavcan/util/method_binder.hpp>
#include <uavcan/protocol/RestartNode.hpp>

namespace uavcan
{
class UAVCAN_EXPORT IRestartRequestHandler
{
public:
    virtual ~IRestartRequestHandler() { }

    virtual bool handleRestartRequest(NodeID request_source) = 0;
};

class UAVCAN_EXPORT RestartRequestServer : Noncopyable
{
    typedef MethodBinder<const RestartRequestServer*,
                         void (RestartRequestServer::*)(const ReceivedDataStructure<protocol::RestartNode::Request>&,
                                                        protocol::RestartNode::Response&) const> RestartNodeCallback;

    ServiceServer<protocol::RestartNode, RestartNodeCallback> srv_;
    IRestartRequestHandler* handler_;

    void handleRestartNode(const ReceivedDataStructure<protocol::RestartNode::Request>& request,
                           protocol::RestartNode::Response& response) const
    {
        UAVCAN_TRACE("RestartRequestServer", "Request from snid=%i", int(request.getSrcNodeID().get()));
        response.ok = false;
        if (request.magic_number == protocol::RestartNode::Request::MAGIC_NUMBER)
        {
            if (handler_)
            {
                response.ok = handler_->handleRestartRequest(request.getSrcNodeID());
            }
            UAVCAN_TRACE("RestartRequestServer", "%s", (response.ok ? "Accepted" : "Rejected"));
        }
        else
        {
            UAVCAN_TRACE("RestartRequestServer", "Invalid magic number 0x%llx",
                         static_cast<unsigned long long>(request.magic_number));
        }
    }

public:
    explicit RestartRequestServer(INode& node)
        : srv_(node)
        , handler_(UAVCAN_NULLPTR)
    { }

    IRestartRequestHandler* getHandler() const { return handler_; }
    void setHandler(IRestartRequestHandler* handler) { handler_ = handler; }

    int start()
    {
        return srv_.start(RestartNodeCallback(this, &RestartRequestServer::handleRestartNode));
    }
};

}

#endif // UAVCAN_PROTOCOL_RESTART_REQUEST_SERVER_HPP_INCLUDED