From 8ecdd6586a212d7ec81c87bac2e1c09e1406c8d9 Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Sat, 6 Sep 2014 04:39:11 +0400
Subject: [PATCH] Linux test - nodetool - enumeration support

---
 libuavcan_drivers/linux/test/test_nodetool.cpp | 17 +++++++++++++++++
 1 file changed, 17 insertions(+)

diff --git a/libuavcan_drivers/linux/test/test_nodetool.cpp b/libuavcan_drivers/linux/test/test_nodetool.cpp
index 7c932559df..77dcef1331 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/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;