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Pavel Kirienko
2015-05-16 15:07:21 +03:00
parent da98060a58
commit e921f4da02
2 changed files with 12 additions and 0 deletions
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libuavcan/include/uavcan/node/generic_subscriber.hpp
+6
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@@ -189,16 +189,21 @@ protected:
int startAsMessageListener()
{
UAVCAN_TRACE("GenericSubscriber", "Start as message listener; dtname=%s", DataSpec::getDataTypeFullName());
return genericStart(&Dispatcher::registerMessageListener);
}
int startAsServiceRequestListener()
{
UAVCAN_TRACE("GenericSubscriber", "Start as service request listener; dtname=%s",
DataSpec::getDataTypeFullName());
return genericStart(&Dispatcher::registerServiceRequestListener);
}
int startAsServiceResponseListener()
{
UAVCAN_TRACE("GenericSubscriber", "Start as service response listener; dtname=%s",
DataSpec::getDataTypeFullName());
return genericStart(&Dispatcher::registerServiceResponseListener);
}
@@ -217,6 +222,7 @@ protected:
*/
void stop()
{
UAVCAN_TRACE("GenericSubscriber", "Stop; dtname=%s", DataSpec::getDataTypeFullName());
GenericSubscriberBase::stop(forwarder_);
}