DataTypeInfoProvider

libuavcan/include/uavcan/protocol/data_type_info_provider.hpp

@@ -0,0 +1,49 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#pragma once
+
+#include <uavcan/node/service_server.hpp>
+#include <uavcan/util/method_binder.hpp>
+#include <uavcan/impl_constants.hpp>
+#include <uavcan/protocol/ComputeAggregateTypeSignature.hpp>
+#include <uavcan/protocol/GetDataTypeInfo.hpp>
+
+namespace uavcan
+{
+
+class DataTypeInfoProvider : Noncopyable
+{
+    typedef MethodBinder<DataTypeInfoProvider*,
+        void (DataTypeInfoProvider::*)(const protocol::ComputeAggregateTypeSignature::Request&,
+                                       protocol::ComputeAggregateTypeSignature::Response&)>
+        ComputeAggregateTypeSignatureCallback;
+
+    typedef MethodBinder<DataTypeInfoProvider*,
+        void (DataTypeInfoProvider::*)(const protocol::GetDataTypeInfo::Request&,
+                                       protocol::GetDataTypeInfo::Response&)> GetDataTypeInfoCallback;
+
+    ServiceServer<protocol::ComputeAggregateTypeSignature, ComputeAggregateTypeSignatureCallback> cats_srv_;
+    ServiceServer<protocol::GetDataTypeInfo, GetDataTypeInfoCallback> gdti_srv_;
+
+    INode& getNode() { return cats_srv_.getNode(); }
+
+    static bool isValidDataTypeKind(DataTypeKind kind);
+
+    void handleComputeAggregateTypeSignatureRequest(const protocol::ComputeAggregateTypeSignature::Request& request,
+                                                    protocol::ComputeAggregateTypeSignature::Response& response);
+
+    void handleGetDataTypeInfoRequest(const protocol::GetDataTypeInfo::Request& request,
+                                      protocol::GetDataTypeInfo::Response& response);
+
+public:
+    DataTypeInfoProvider(INode& node)
+    : cats_srv_(node)
+    , gdti_srv_(node)
+    { }
+
+    int start();
+};
+
+}