Classes
class	AllIfacesDownException

class	BlockingServiceClient

class	DefaultLogSink

struct	DriverPack

class	Exception

class	LibuavcanErrorException

class	MachineIDReader

class	Node

class	NodeBase

class	SocketCanDriver

class	SocketCanIface

class	SubNode

class	SystemClock

Typedefs
template<typename T >
using	BlockingServiceClientPtr = std::shared_ptr< BlockingServiceClient< T > >

typedef std::shared_ptr< DriverPack >	DriverPackPtr

typedef std::shared_ptr< uavcan::INode >	INodePtr

typedef std::shared_ptr< Node >	NodePtr

template<typename T >
using	PublisherPtr = std::shared_ptr< uavcan::Publisher< T > >

template<typename T >
using	ServiceClientPtr = std::shared_ptr< uavcan::ServiceClient< T > >

template<typename T >
using	ServiceServerPtr = std::shared_ptr< uavcan::ServiceServer< T > >

typedef std::shared_ptr< SubNode >	SubNodePtr

template<typename T >
using	SubscriberPtr = std::shared_ptr< uavcan::Subscriber< T > >

typedef std::shared_ptr< uavcan::Timer >	TimerPtr

Enumerations
enum	ClockAdjustmentMode { ClockAdjustmentMode::SystemWide, ClockAdjustmentMode::PerDriverPrivate }

enum	SocketCanError { SocketCanError::SocketReadFailure, SocketCanError::SocketWriteFailure, SocketCanError::TxTimeout }

Functions
std::array< std::uint8_t, 16 >	makeApplicationID (const MachineIDReader::MachineID &machine_id, const std::string &node_name, const std::uint8_t instance_id=0)

template<typename DriverType >
static NodePtr	makeNode (const DriverType &driver, const uavcan::NodeStatusProvider::NodeName &name, const uavcan::protocol::SoftwareVersion &software_version, const uavcan::protocol::HardwareVersion &hardware_version, const uavcan::NodeID node_id=uavcan::NodeID(), const uavcan::TransferPriority node_status_transfer_priority=uavcan::TransferPriority::Default, ClockAdjustmentMode clock_adjustment_mode=SystemClock::detectPreferredClockAdjustmentMode())

static NodePtr	makeNode (const std::shared_ptr< uavcan::ICanDriver > &can_driver, ClockAdjustmentMode clock_adjustment_mode=SystemClock::detectPreferredClockAdjustmentMode())

static NodePtr	makeNode (const std::vector< std::string > &iface_names, ClockAdjustmentMode clock_adjustment_mode=SystemClock::detectPreferredClockAdjustmentMode())

template<typename DriverType >
static SubNodePtr	makeSubNode (const DriverType &driver, const uavcan::NodeID node_id, ClockAdjustmentMode clock_adjustment_mode=SystemClock::detectPreferredClockAdjustmentMode())

static SubNodePtr	makeSubNode (const std::shared_ptr< uavcan::ICanDriver > &can_driver, ClockAdjustmentMode clock_adjustment_mode=SystemClock::detectPreferredClockAdjustmentMode())

static SubNodePtr	makeSubNode (const std::vector< std::string > &iface_names, ClockAdjustmentMode clock_adjustment_mode=SystemClock::detectPreferredClockAdjustmentMode())

Variables
static constexpr std::size_t	NodeMemPoolSize = 1024 * 512
	This shall be enough for any possible use case. More...

Typedef Documentation

◆ BlockingServiceClientPtr

template<typename T >

using uavcan_linux::BlockingServiceClientPtr = typedef std::shared_ptr<BlockingServiceClient<T> >

Definition at line 162 of file platform_specific_components/linux/libuavcan/include/uavcan_linux/helpers.hpp.

◆ DriverPackPtr

typedef std::shared_ptr<DriverPack> uavcan_linux::DriverPackPtr

Definition at line 143 of file platform_specific_components/linux/libuavcan/include/uavcan_linux/helpers.hpp.

◆ INodePtr

typedef std::shared_ptr<uavcan::INode> uavcan_linux::INodePtr

Definition at line 145 of file platform_specific_components/linux/libuavcan/include/uavcan_linux/helpers.hpp.

◆ NodePtr

typedef std::shared_ptr<Node> uavcan_linux::NodePtr

Definition at line 354 of file platform_specific_components/linux/libuavcan/include/uavcan_linux/helpers.hpp.

◆ PublisherPtr

template<typename T >

using uavcan_linux::PublisherPtr = typedef std::shared_ptr<uavcan::Publisher<T> >

Definition at line 153 of file platform_specific_components/linux/libuavcan/include/uavcan_linux/helpers.hpp.

◆ ServiceClientPtr

template<typename T >

using uavcan_linux::ServiceClientPtr = typedef std::shared_ptr<uavcan::ServiceClient<T> >

Definition at line 159 of file platform_specific_components/linux/libuavcan/include/uavcan_linux/helpers.hpp.

◆ ServiceServerPtr

template<typename T >

using uavcan_linux::ServiceServerPtr = typedef std::shared_ptr<uavcan::ServiceServer<T> >

Definition at line 156 of file platform_specific_components/linux/libuavcan/include/uavcan_linux/helpers.hpp.

◆ SubNodePtr

typedef std::shared_ptr<SubNode> uavcan_linux::SubNodePtr

Definition at line 355 of file platform_specific_components/linux/libuavcan/include/uavcan_linux/helpers.hpp.

◆ SubscriberPtr

template<typename T >

using uavcan_linux::SubscriberPtr = typedef std::shared_ptr<uavcan::Subscriber<T> >

Definition at line 150 of file platform_specific_components/linux/libuavcan/include/uavcan_linux/helpers.hpp.

◆ TimerPtr

typedef std::shared_ptr<uavcan::Timer> uavcan_linux::TimerPtr

Definition at line 147 of file platform_specific_components/linux/libuavcan/include/uavcan_linux/helpers.hpp.

Enumeration Type Documentation

◆ ClockAdjustmentMode

enum uavcan_linux::ClockAdjustmentMode

strong

Different adjustment modes can be used for time synchronization

Enumerator
SystemWide	Adjust the clock globally for the whole system; requires root privileges.
PerDriverPrivate	Adjust the clock only for the current driver instance.

Definition at line 23 of file platform_specific_components/linux/libuavcan/include/uavcan_linux/clock.hpp.

◆ SocketCanError

enum uavcan_linux::SocketCanError

strong

SocketCan driver class keeps number of each kind of errors occurred since the object was created.

Enumerator
SocketReadFailure
SocketWriteFailure
TxTimeout

Definition at line 35 of file socketcan.hpp.

Function Documentation

◆ makeApplicationID()

std::array<std::uint8_t, 16> uavcan_linux::makeApplicationID	(	const MachineIDReader::MachineID &	machine_id,
		const std::string &	node_name,
		const std::uint8_t	instance_id = `0`
	)

inline

This class computes unique ID for a UAVCAN node in a Linux application. It takes the following inputs:

Unique machine ID
Node name string (e.g. "org.uavcan.linux_app.dynamic_node_id_server")
Instance ID byte, e.g. node ID (optional)

Definition at line 143 of file system_utils.hpp.

◆ makeNode() [1/3]

template<typename DriverType >

static NodePtr uavcan_linux::makeNode	(	const DriverType &	driver,
		const uavcan::NodeStatusProvider::NodeName &	name,
		const uavcan::protocol::SoftwareVersion &	software_version,
		const uavcan::protocol::HardwareVersion &	hardware_version,
		const uavcan::NodeID	node_id = `uavcan::NodeID()`,
		const uavcan::TransferPriority	node_status_transfer_priority = `uavcan::TransferPriority::Default`,
		ClockAdjustmentMode	clock_adjustment_mode = `SystemClock::detectPreferredClockAdjustmentMode()`
	)

inlinestatic

This function extends the other two overloads in such a way that it instantiates and initializes the node immediately; if initialization fails, it throws.

If NodeID is not provided, it will not be initialized, and therefore the node will be started in listen-only (i.e. silent) mode. The node can be switched to normal (i.e. non-silent) mode at any later time by calling setNodeID() explicitly. Read the Node class docs for more info.

Clock adjustment mode will be detected automatically unless provided explicitly.

Exceptions

uavcan_linux::Exception,uavcan_linux::LibuavcanErrorException.

Definition at line 397 of file platform_specific_components/linux/libuavcan/include/uavcan_linux/helpers.hpp.

◆ makeNode() [2/3]

static NodePtr uavcan_linux::makeNode	(	const std::shared_ptr< uavcan::ICanDriver > &	can_driver,
		ClockAdjustmentMode	clock_adjustment_mode = `SystemClock::detectPreferredClockAdjustmentMode()`
	)

inlinestatic

Use this function to create a node instance with a custom driver. Clock adjustment mode will be detected automatically unless provided explicitly.

Exceptions

uavcan_linux::Exception.

Definition at line 376 of file platform_specific_components/linux/libuavcan/include/uavcan_linux/helpers.hpp.

◆ makeNode() [3/3]

static NodePtr uavcan_linux::makeNode	(	const std::vector< std::string > &	iface_names,
		ClockAdjustmentMode	clock_adjustment_mode = `SystemClock::detectPreferredClockAdjustmentMode()`
	)

inlinestatic

Use this function to create a node instance with default SocketCAN driver. It accepts the list of interface names to use for the new node, e.g. "can1", "vcan2", "slcan0". Clock adjustment mode will be detected automatically unless provided explicitly.

Exceptions

uavcan_linux::Exception.

Definition at line 363 of file platform_specific_components/linux/libuavcan/include/uavcan_linux/helpers.hpp.

◆ makeSubNode() [1/3]

template<typename DriverType >

static SubNodePtr uavcan_linux::makeSubNode	(	const DriverType &	driver,
		const uavcan::NodeID	node_id,
		ClockAdjustmentMode	clock_adjustment_mode = `SystemClock::detectPreferredClockAdjustmentMode()`
	)

inlinestatic

This function extends the other two overloads in such a way that it instantiates the node and sets its Node ID immediately.

Clock adjustment mode will be detected automatically unless provided explicitly.

Exceptions

uavcan_linux::Exception,uavcan_linux::LibuavcanErrorException.

Definition at line 463 of file platform_specific_components/linux/libuavcan/include/uavcan_linux/helpers.hpp.

◆ makeSubNode() [2/3]

static SubNodePtr uavcan_linux::makeSubNode	(	const std::shared_ptr< uavcan::ICanDriver > &	can_driver,
		ClockAdjustmentMode	clock_adjustment_mode = `SystemClock::detectPreferredClockAdjustmentMode()`
	)

inlinestatic

Use this function to create a sub-node instance with a custom driver. Clock adjustment mode will be detected automatically unless provided explicitly.

Exceptions

uavcan_linux::Exception.

Definition at line 446 of file platform_specific_components/linux/libuavcan/include/uavcan_linux/helpers.hpp.

◆ makeSubNode() [3/3]

static SubNodePtr uavcan_linux::makeSubNode	(	const std::vector< std::string > &	iface_names,
		ClockAdjustmentMode	clock_adjustment_mode = `SystemClock::detectPreferredClockAdjustmentMode()`
	)

inlinestatic

Use this function to create a sub-node instance with default SocketCAN driver. It accepts the list of interface names to use for the new node, e.g. "can1", "vcan2", "slcan0". Clock adjustment mode will be detected automatically unless provided explicitly.

Exceptions

uavcan_linux::Exception.

Definition at line 433 of file platform_specific_components/linux/libuavcan/include/uavcan_linux/helpers.hpp.

Variable Documentation

◆ NodeMemPoolSize

constexpr std::size_t uavcan_linux::NodeMemPoolSize = 1024 * 512

staticconstexpr

This shall be enough for any possible use case.

Definition at line 164 of file platform_specific_components/linux/libuavcan/include/uavcan_linux/helpers.hpp.

Classes

Typedefs

Enumerations

Functions

Variables

Typedef Documentation

◆ BlockingServiceClientPtr

◆ DriverPackPtr

◆ INodePtr

◆ NodePtr

◆ PublisherPtr

◆ ServiceClientPtr

◆ ServiceServerPtr

◆ SubNodePtr

◆ SubscriberPtr

◆ TimerPtr

Enumeration Type Documentation

◆ ClockAdjustmentMode

◆ SocketCanError

Function Documentation

◆ makeApplicationID()

◆ makeNode() [1/3]

◆ makeNode() [2/3]

◆ makeNode() [3/3]

◆ makeSubNode() [1/3]

◆ makeSubNode() [2/3]

◆ makeSubNode() [3/3]

Variable Documentation

◆ NodeMemPoolSize