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Global discovery request removed

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This commit is contained in:
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/src/protocol/uc_node_status_provider.cpp
+1 -19
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@@ -26,7 +26,7 @@ int NodeStatusProvider::publish()
return node_status_pub_.broadcast(node_info_.status);
}
void NodeStatusProvider::publishWithErrorHandling()
void NodeStatusProvider::handleTimerEvent(const TimerEvent&)
{
if (getNode().isPassiveMode())
{
@@ -42,17 +42,6 @@ void NodeStatusProvider::publishWithErrorHandling()
}
}
void NodeStatusProvider::handleTimerEvent(const TimerEvent&)
{
publishWithErrorHandling();
}
void NodeStatusProvider::handleGlobalDiscoveryRequest(const protocol::GlobalDiscoveryRequest&)
{
UAVCAN_TRACE("NodeStatusProvider", "Got GlobalDiscoveryRequest");
publishWithErrorHandling();
}
void NodeStatusProvider::handleGetNodeInfoRequest(const protocol::GetNodeInfo::Request&,
protocol::GetNodeInfo::Response& rsp)
{
@@ -82,12 +71,6 @@ int NodeStatusProvider::startAndPublish(TransferPriority priority)
}
}
res = gdr_sub_.start(GlobalDiscoveryRequestCallback(this, &NodeStatusProvider::handleGlobalDiscoveryRequest));
if (res < 0)
{
goto fail;
}
res = gni_srv_.start(GetNodeInfoCallback(this, &NodeStatusProvider::handleGetNodeInfoRequest));
if (res < 0)
{
@@ -100,7 +83,6 @@ int NodeStatusProvider::startAndPublish(TransferPriority priority)
fail:
UAVCAN_ASSERT(res < 0);
gdr_sub_.stop();
gni_srv_.stop();
TimerBase::stop();
return res;