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Linux test - nodetool - enumeration support

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This commit is contained in:
Pavel Kirienko
2014-09-06 04:39:11 +04:00
parent 286adbcc56
commit 8ecdd6586a
1 changed files with 17 additions and 0 deletions
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libuavcan_drivers/linux/test/test_nodetool.cpp
+17
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@@ -14,6 +14,7 @@
#include <uavcan/protocol/param/GetSet.hpp>
#include <uavcan/protocol/param/SaveErase.hpp>
#include <uavcan/protocol/EnumerationRequest.hpp>
#include <uavcan/equipment/hardpoint/Command.hpp>
namespace
@@ -204,6 +205,22 @@ void executeCommand(const uavcan_linux::NodePtr& node, const std::string& cmd,
(void)pub->unicast(msg, node_id);
}
}
else if (cmd == "enum")
{
uavcan::protocol::EnumerationRequest msg;
msg.node_id = std::stoi(args.at(0));
msg.timeout_sec = (args.size() > 1) ? std::stoi(args.at(1)) : 60;
std::cout << msg << std::endl;
auto pub = node->makePublisher<uavcan::protocol::EnumerationRequest>();
if (node_id.isBroadcast())
{
(void)pub->broadcast(msg);
}
else
{
(void)pub->unicast(msg, node_id);
}
}
else
{
std::cout << "Invalid command" << std::endl;