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Using static receivers in NodeDiscoverer

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Pavel Kirienko
2015-05-12 21:48:30 +03:00
parent 9efd1ac7ae
commit 93376316b8
1 changed files with 3 additions and 1 deletions
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libuavcan/include/uavcan/protocol/dynamic_node_id_server/node_discoverer.hpp
+3 -1
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@@ -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