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Restart request server moved to header

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This commit is contained in:
Pavel Kirienko
2015-05-09 12:38:12 +03:00
parent 15fa5ad163
commit 9d20d983b5
2 changed files with 23 additions and 38 deletions
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libuavcan/include/uavcan/protocol/restart_request_server.hpp
+23 -2
View File
@@ -5,6 +5,7 @@
#ifndef UAVCAN_PROTOCOL_RESTART_REQUEST_SERVER_HPP_INCLUDED
#define UAVCAN_PROTOCOL_RESTART_REQUEST_SERVER_HPP_INCLUDED
#include <uavcan/debug.hpp>
#include <uavcan/node/service_server.hpp>
#include <uavcan/util/method_binder.hpp>
#include <uavcan/protocol/RestartNode.hpp>
@@ -44,7 +45,24 @@ class UAVCAN_EXPORT RestartRequestServer : Noncopyable
IRestartRequestHandler* handler_;
void handleRestartNode(const ReceivedDataStructure<protocol::RestartNode::Request>& request,
protocol::RestartNode::Response& response) const;
protocol::RestartNode::Response& response) const
{
UAVCAN_TRACE("RestartRequestServer", "Request from snid=%i", int(request.getSrcNodeID().get()));
response.ok = false;
if (request.magic_number == protocol::RestartNode::Request::MAGIC_NUMBER)
{
if (handler_)
{
response.ok = handler_->handleRestartRequest(request.getSrcNodeID());
}
UAVCAN_TRACE("RestartRequestServer", "%s", (response.ok ? "Accepted" : "Rejected"));
}
else
{
UAVCAN_TRACE("RestartRequestServer", "Invalid magic number 0x%llx",
static_cast<unsigned long long>(request.magic_number));
}
}
public:
explicit RestartRequestServer(INode& node)
@@ -63,7 +81,10 @@ public:
* Starts the server.
* Returns negative error code.
*/
int start();
int start()
{
return srv_.start(RestartNodeCallback(this, &RestartRequestServer::handleRestartNode));
}
};
}
libuavcan/src/protocol/uc_restart_request_server.cpp
-36
View File
@@ -1,36 +0,0 @@
/*
* Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
*/
#include <uavcan/protocol/restart_request_server.hpp>
#include <uavcan/debug.hpp>
namespace uavcan
{
void RestartRequestServer::handleRestartNode(const ReceivedDataStructure<protocol::RestartNode::Request>& request,
protocol::RestartNode::Response& response) const
{
UAVCAN_TRACE("RestartRequestServer", "Request from snid=%i", int(request.getSrcNodeID().get()));
response.ok = false;
if (request.magic_number == protocol::RestartNode::Request::MAGIC_NUMBER)
{
if (handler_)
{
response.ok = handler_->handleRestartRequest(request.getSrcNodeID());
}
UAVCAN_TRACE("RestartRequestServer", "%s", (response.ok ? "Accepted" : "Rejected"));
}
else
{
UAVCAN_TRACE("RestartRequestServer", "Invalid magic number 0x%llx",
static_cast<unsigned long long>(request.magic_number));
}
}
int RestartRequestServer::start()
{
return srv_.start(RestartNodeCallback(this, &RestartRequestServer::handleRestartNode));
}
}