From 93376316b8573e4de8708bee6099411f6c845f4a Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Tue, 12 May 2015 21:48:30 +0300
Subject: [PATCH] Using static receivers in NodeDiscoverer

---
 .../protocol/dynamic_node_id_server/node_discoverer.hpp       | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/libuavcan/include/uavcan/protocol/dynamic_node_id_server/node_discoverer.hpp b/libuavcan/include/uavcan/protocol/dynamic_node_id_server/node_discoverer.hpp
index d98d55f09f..0f96708cd5 100644
--- a/libuavcan/include/uavcan/protocol/dynamic_node_id_server/node_discoverer.hpp
+++ b/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