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Added IAdHocNodeStatusUpdater

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Pavel Kirienko
2018-01-02 11:32:35 +02:00
parent 0066382ff5
commit da34eae9c4
3 changed files with 79 additions and 0 deletions
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libuavcan/src/protocol/uc_node_status_provider.cpp
+10
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@@ -34,6 +34,11 @@ void NodeStatusProvider::handleTimerEvent(const TimerEvent&)
}
else
{
if (ad_hoc_status_updater_ != UAVCAN_NULLPTR)
{
ad_hoc_status_updater_->updateNodeStatus();
}
const int res = publish();
if (res < 0)
{
@@ -109,6 +114,11 @@ uavcan::MonotonicDuration NodeStatusProvider::getStatusPublicationPeriod() const
return TimerBase::getPeriod();
}
void NodeStatusProvider::setAdHocNodeStatusUpdater(IAdHocNodeStatusUpdater* updater)
{
ad_hoc_status_updater_ = updater; // Can be nullptr, that's okay
}
void NodeStatusProvider::setHealth(uint8_t code)
{
node_info_.status.health = code;