From 5d272ca4103b92122c84b50a50d8f3e377132b58 Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Tue, 29 Apr 2014 13:51:30 +0400
Subject: [PATCH] Linux test: Hardpoint control from nodetool

---
 libuavcan_drivers/linux/test/test_nodetool.cpp | 15 +++++++++++++++
 1 file changed, 15 insertions(+)

diff --git a/libuavcan_drivers/linux/test/test_nodetool.cpp b/libuavcan_drivers/linux/test/test_nodetool.cpp
index 25eb5a0c25..b16039522a 100644
--- a/libuavcan_drivers/linux/test/test_nodetool.cpp
+++ b/libuavcan_drivers/linux/test/test_nodetool.cpp
@@ -14,6 +14,7 @@
 
 #include <uavcan/protocol/param/GetSet.hpp>
 #include <uavcan/protocol/param/SaveErase.hpp>
+#include <uavcan/equipment/hardpoint/Command.hpp>
 
 namespace
 {
@@ -189,6 +190,20 @@ void executeCommand(const uavcan_linux::NodePtr& node, const std::string& cmd,
         uavcan_linux::BlockingServiceClient<uavcan::protocol::GetTransportStats> client(*node);
         std::cout << call(client, node_id, uavcan::protocol::GetTransportStats::Request()) << std::endl;
     }
+    else if (cmd == "hardpoint")
+    {
+        uavcan::equipment::hardpoint::Command msg;
+        msg.command = std::stoi(args.at(0));
+        auto pub = node->makePublisher<uavcan::equipment::hardpoint::Command>();
+        if (node_id.isBroadcast())
+        {
+            (void)pub->broadcast(msg);
+        }
+        else
+        {
+            (void)pub->unicast(msg, node_id);
+        }
+    }
     else
     {
         std::cout << "Invalid command" << std::endl;