RestartRequestServer

libuavcan/include/uavcan/protocol/restart_request_server.hpp

@@ -0,0 +1,46 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#pragma once
+
+#include <uavcan/node/service_server.hpp>
+#include <uavcan/util/method_binder.hpp>
+#include <uavcan/protocol/RestartNode.hpp>
+
+namespace uavcan
+{
+
+class IRestartRequestHandler
+{
+public:
+    virtual ~IRestartRequestHandler() { }
+    virtual bool handleRestartRequest(NodeID request_source) = 0;
+};
+
+
+class RestartRequestServer : Noncopyable
+{
+    typedef MethodBinder<const RestartRequestServer*,
+        void(RestartRequestServer::*)(const ReceivedDataStructure<protocol::RestartNode::Request>&,
+            protocol::RestartNode::Response&) const> RestartNodeCallback;
+
+    ServiceServer<protocol::RestartNode, RestartNodeCallback> srv_;
+    IRestartRequestHandler* handler_;
+
+    void handleRestartNode(const ReceivedDataStructure<protocol::RestartNode::Request>& request,
+                           protocol::RestartNode::Response& response) const;
+
+public:
+    RestartRequestServer(INode& node)
+    : srv_(node)
+    , handler_(NULL)
+    { }
+
+    IRestartRequestHandler* getHandler() const { return handler_; }
+    void setHandler(IRestartRequestHandler* handler) { handler_ = handler; }
+
+    int start();
+};
+
+}