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DSDL update

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This commit is contained in:
Pavel Kirienko
2015-08-16 17:30:03 +03:00
parent e32dfafbae
commit 181b4f6094
2 changed files with 9 additions and 8 deletions
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dsdl
+1 -1
Submodule dsdl updated: e116524b58...feca9d0061
libuavcan/include/uavcan/protocol/panic_broadcaster.hpp
+8 -7
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@@ -38,17 +38,17 @@ public:
explicit PanicBroadcaster(INode& node)
: TimerBase(node)
, pub_(node)
{
pub_.setTxTimeout(MonotonicDuration::fromMSec(protocol::Panic::BROADCASTING_PERIOD_MS - 10));
}
{ }
/**
* Begin broadcasting at the standard interval (see BROADCASTING_PERIOD_MS).
* This method does not block and can't fail.
* @param short_reason Short ASCII string that describes the reason of the panic, 7 characters max.
* If the string exceeds 7 characters, it will be truncated.
* @param short_reason Short ASCII string that describes the reason of the panic, 7 characters max.
* If the string exceeds 7 characters, it will be truncated.
* @param broadcasting_period Broadcasting period. Optional.
* @param priority Transfer priority. Optional.
*/
void panic(const char* short_reason_description,
MonotonicDuration broadcasting_period = MonotonicDuration::fromMSec(100),
const TransferPriority priority = TransferPriority::Default)
{
msg_.reason_text.clear();
@@ -65,10 +65,11 @@ public:
UAVCAN_TRACE("PanicBroadcaster", "Panicking with reason '%s'", getReason().c_str());
pub_.setTxTimeout(broadcasting_period);
pub_.setPriority(priority);
publishOnce();
startPeriodic(MonotonicDuration::fromMSec(protocol::Panic::BROADCASTING_PERIOD_MS));
startPeriodic(broadcasting_period);
}
/**