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Global discovery request removed

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Pavel Kirienko
2015-07-05 07:21:34 +03:00
parent 36a7c7e7a9
commit a25a9252a7
9 changed files with 2 additions and 54 deletions
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libuavcan/include/uavcan/protocol/node_status_provider.hpp
-7
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@@ -13,7 +13,6 @@
#include <uavcan/build_config.hpp>
#include <uavcan/protocol/NodeStatus.hpp>
#include <uavcan/protocol/GetNodeInfo.hpp>
#include <uavcan/protocol/GlobalDiscoveryRequest.hpp>
namespace uavcan
{
@@ -23,8 +22,6 @@ namespace uavcan
*/
class UAVCAN_EXPORT NodeStatusProvider : private TimerBase
{
typedef MethodBinder<NodeStatusProvider*, void (NodeStatusProvider::*)(const protocol::GlobalDiscoveryRequest&)>
GlobalDiscoveryRequestCallback;
typedef MethodBinder<NodeStatusProvider*,
void (NodeStatusProvider::*)(const protocol::GetNodeInfo::Request&,
protocol::GetNodeInfo::Response&)> GetNodeInfoCallback;
@@ -32,7 +29,6 @@ class UAVCAN_EXPORT NodeStatusProvider : private TimerBase
const MonotonicTime creation_timestamp_;
Publisher<protocol::NodeStatus> node_status_pub_;
Subscriber<protocol::GlobalDiscoveryRequest, GlobalDiscoveryRequestCallback> gdr_sub_;
ServiceServer<protocol::GetNodeInfo, GetNodeInfoCallback> gni_srv_;
protocol::GetNodeInfo::Response node_info_;
@@ -42,10 +38,8 @@ class UAVCAN_EXPORT NodeStatusProvider : private TimerBase
bool isNodeInfoInitialized() const;
int publish();
void publishWithErrorHandling();
virtual void handleTimerEvent(const TimerEvent&);
void handleGlobalDiscoveryRequest(const protocol::GlobalDiscoveryRequest&);
void handleGetNodeInfoRequest(const protocol::GetNodeInfo::Request&, protocol::GetNodeInfo::Response& rsp);
public:
@@ -56,7 +50,6 @@ public:
: TimerBase(node)
, creation_timestamp_(node.getMonotonicTime())
, node_status_pub_(node)
, gdr_sub_(node)
, gni_srv_(node)
{
UAVCAN_ASSERT(!creation_timestamp_.isZero());