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Linux makeNode() helper overload

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This commit is contained in:
Pavel Kirienko
2016-06-13 00:46:13 +03:00
parent 59bcde5868
commit a19dfd56dc
6 changed files with 102 additions and 35 deletions
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libuavcan_drivers/linux/apps/uavcan_dynamic_node_id_server.cpp
+7 -17
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@@ -32,25 +32,15 @@ constexpr int MinUpdateInterval = 100;
uavcan_linux::NodePtr initNode(const std::vector<std::string>& ifaces, uavcan::NodeID nid, const std::string& name)
{
auto node = uavcan_linux::makeNode(ifaces);
const auto app_id = uavcan_linux::makeApplicationID(uavcan_linux::MachineIDReader().read(), name, nid.get());
uavcan::protocol::HardwareVersion hwver;
std::copy(app_id.begin(), app_id.end(), hwver.unique_id.begin());
std::cout << hwver << std::endl;
auto node = uavcan_linux::makeNode(ifaces, name.c_str(), uavcan::protocol::SoftwareVersion(), hwver, nid);
node->setNodeID(nid);
node->setName(name.c_str());
node->getLogger().setLevel(uavcan::protocol::debug::LogLevel::DEBUG);
{
const auto app_id = uavcan_linux::makeApplicationID(uavcan_linux::MachineIDReader().read(), name, nid.get());
uavcan::protocol::HardwareVersion hwver;
std::copy(app_id.begin(), app_id.end(), hwver.unique_id.begin());
std::cout << hwver << std::endl;
node->setHardwareVersion(hwver);
}
const int start_res = node->start();
ENFORCE(0 == start_res);
node->setModeOperational();
return node;