libuavcan passive mode support

libuavcan/include/uavcan/error.hpp

@@ -26,6 +26,7 @@ const int16_t ErrInvalidTransferListener = 7;
 const int16_t ErrNotInited               = 8;
 const int16_t ErrRecursiveCall           = 9;
 const int16_t ErrLogic                   = 10;
+const int16_t ErrPassiveMode             = 11;
 
 }
 

libuavcan/include/uavcan/node/abstract_node.hpp

@@ -34,6 +34,8 @@ public:
         return getScheduler().getDispatcher().setNodeID(nid);
     }
 
+    bool isPassiveMode() const { return getScheduler().getDispatcher().isPassiveMode(); }
+
     int spin(MonotonicTime deadline)
     {
         return getScheduler().spin(deadline);

libuavcan/include/uavcan/transport/dispatcher.hpp

@@ -141,6 +141,8 @@ public:
     NodeID getNodeID() const { return self_node_id_; }
     bool setNodeID(NodeID nid);
 
+    bool isPassiveMode() const { return !getNodeID().isUnicast(); }
+
     const ISystemClock& getSystemClock() const { return sysclock_; }
     ISystemClock& getSystemClock() { return sysclock_; }