From d185eccf1858a9f8c08db040cf9c812c315ab88c Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Tue, 9 Jun 2015 18:35:49 +0300
Subject: [PATCH] Exposed RX listener API via INode interface

---
 libuavcan/include/uavcan/node/abstract_node.hpp | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/libuavcan/include/uavcan/node/abstract_node.hpp b/libuavcan/include/uavcan/node/abstract_node.hpp
index 1dc458cbb4..8414d2cec1 100644
--- a/libuavcan/include/uavcan/node/abstract_node.hpp
+++ b/libuavcan/include/uavcan/node/abstract_node.hpp
@@ -114,6 +114,13 @@ public:
     {
         return getDispatcher().getCanIOManager().send(frame, tx_deadline, MonotonicTime(), iface_mask, qos, flags);
     }
+
+    /**
+     * The @ref IRxFrameListener interface allows one to monitor all incoming CAN frames.
+     * This feature can be used to implement multithreaded nodes, or to add secondary protocol support.
+     */
+    void removeRxFrameListener()                       { getDispatcher().removeRxFrameListener(); }
+    void installRxFrameListener(IRxFrameListener* lst) { getDispatcher().installRxFrameListener(lst); }
 };
 
 }