Merge branch 'dynamic_node_id_raft' of https://github.com/UAVCAN/uavcan into dynamic_node_id_raft

libuavcan/include/uavcan/protocol/dynamic_node_id_server/node_discoverer.hpp

@@ -92,6 +92,8 @@ class NodeDiscoverer : TimerBase
      */
     enum { MaxAttemptsToGetNodeInfo = 5 };
 
+    enum { NumNodeStatusStaticReceivers = 64 };
+
     /*
      * States
      */
@@ -102,7 +104,7 @@ class NodeDiscoverer : TimerBase
     NodeMap node_map_;                                  ///< Will not work in UAVCAN_TINY
 
     ServiceClient<protocol::GetNodeInfo, GetNodeInfoResponseCallback> get_node_info_client_;
-    Subscriber<protocol::NodeStatus, NodeStatusCallback> node_status_sub_;
+    Subscriber<protocol::NodeStatus, NodeStatusCallback, NumNodeStatusStaticReceivers> node_status_sub_;
 
     /*
      * Methods

libuavcan/include/uavcan/protocol/node_status_monitor.hpp

@@ -110,6 +110,10 @@ private:
         handleNodeStatusMessage(msg);
     }
 
+protected:
+    /**
+     * This event will be invoked at 2 Hz rate. It can be used by derived classes as well.
+     */
     virtual void handleTimerEvent(const TimerEvent&)
     {
         const int OfflineTimeoutMs100 = protocol::NodeStatus::OFFLINE_TIMEOUT_MS / 100;
@@ -134,7 +138,6 @@ private:
         }
     }
 
-protected:
     /**
      * Called when a node becomes online, changes status or goes offline.
      * Refer to uavcan.protocol.NodeStatus for the offline timeout value.