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uavcan_v1: Add update and print support to SubscriptionManager

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This commit is contained in:
JacobCrabill 2021-06-24 17:14:06 -07:00 committed by Daniel Agar
parent 74d0f46279
commit 4ba1f966e5
2 changed files with 12 additions and 1 deletions
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12
src/drivers/uavcan_v1/SubscriptionManager.cpp
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@ -88,10 +88,20 @@ void SubscriptionManager::subscribe()
void SubscriptionManager::printInfo()
{
UavcanDynamicPortSubscriber *dynsub = _dynsubscribers;
while (dynsub != NULL) {
dynsub->printInfo();
dynsub = dynsub->next();
}
}
void SubscriptionManager::updateParams()
{
//TODO dynamically update params and unsubscribe
UavcanDynamicPortSubscriber *dynsub = _dynsubscribers;
while (dynsub != NULL) {
dynsub->updateParam();
dynsub = dynsub->next();
}
}

1
src/drivers/uavcan_v1/SubscriptionManager.hpp
View File

@ -78,6 +78,7 @@ private:
UavcanDynamicPortSubscriber *_dynsubscribers {NULL};
UavcanHeartbeatSubscriber _heartbeat_sub {_canard_instance};
// GetInfo response
UavcanGetInfoResponse _getinfo_rsp {_canard_instance};