PanicBroadcaster

libuavcan/include/uavcan/protocol/panic_broadcaster.hpp

@@ -0,0 +1,40 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#pragma once
+
+#include <uavcan/node/publisher.hpp>
+#include <uavcan/node/timer.hpp>
+#include <uavcan/protocol/Panic.hpp>
+
+namespace uavcan
+{
+
+class PanicBroadcaster : private Timer
+{
+    Publisher<protocol::Panic> pub_;
+    protocol::Panic msg_;
+
+    void publishOnce();
+
+    void handleTimerEvent(const TimerEvent&);
+
+public:
+    PanicBroadcaster(INode& node)
+    : Timer(node)
+    , pub_(node)
+    {
+        pub_.setTxTimeout(MonotonicDuration::fromMSec(protocol::Panic::BROADCASTING_INTERVAL_MS - 10));
+    }
+
+    void panic(const char* short_reason);
+
+    void dontPanic();    // Where's my towel
+
+    bool isPanicking() const;
+
+    const typename protocol::Panic::FieldTypes::reason_text& getReason() const;
+};
+
+}