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Node<> and NodeStatusProvider updated

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This commit is contained in:
Pavel Kirienko 2015-07-08 21:54:56 +03:00
parent 948ab8d695
commit e98ba01e22
4 changed files with 59 additions and 28 deletions
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22
libuavcan/include/uavcan/node/node.hpp
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@ -156,19 +156,25 @@ public:
void setName(const char* name) { proto_nsp_.setName(name); }
/**
* Status code helpers.
* Node health code helpers.
*/
void setStatusOk() { proto_nsp_.setStatusOk(); }
void setStatusInitializing() { proto_nsp_.setStatusInitializing(); }
void setStatusWarning() { proto_nsp_.setStatusWarning(); }
void setStatusCritical() { proto_nsp_.setStatusCritical(); }
void setHealthOk() { proto_nsp_.setHealthOk(); }
void setHealthWarning() { proto_nsp_.setHealthWarning(); }
void setHealthError() { proto_nsp_.setHealthError(); }
void setHealthCritical() { proto_nsp_.setHealthCritical(); }
/**
* Sets the status OFFLINE and publishes it immediately.
* Node mode code helpers.
* Note that INITIALIZATION is the default mode; the application has to manually set it to OPERATIONAL.
*/
void setStatusOffline()
void setModeOperational() { proto_nsp_.setModeOperational(); }
void setModeInitialization() { proto_nsp_.setModeInitialization(); }
void setModeMaintenance() { proto_nsp_.setModeMaintenance(); }
void setModeSoftwareUpdate() { proto_nsp_.setModeSoftwareUpdate(); }
void setModeOfflineAndPublish()
{
proto_nsp_.setStatusOffline();
proto_nsp_.setModeOffline();
(void)proto_nsp_.forcePublish();
}

35
libuavcan/include/uavcan/protocol/node_status_provider.hpp
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@ -18,7 +18,12 @@ namespace uavcan
{
/**
* Provides the status and basic information about this node to other network participants.
*
* Usually the application does not need to deal with this class directly - it's instantiated by the node class.
*
* Default values:
* - health - OK
* - mode - INITIALIZATION
*/
class UAVCAN_EXPORT NodeStatusProvider : private TimerBase
{
@ -54,7 +59,9 @@ public:
{
UAVCAN_ASSERT(!creation_timestamp_.isZero());
node_info_.status.status_code = protocol::NodeStatus::STATUS_INITIALIZING;
node_info_.status.mode = protocol::NodeStatus::MODE_INITIALIZATION;
node_info_.status.health = protocol::NodeStatus::HEALTH_OK;
}
/**
@ -78,15 +85,25 @@ public:
uavcan::MonotonicDuration getStatusPublicationPeriod() const;
/**
* Local node status code control.
* Local node health code control.
*/
uint8_t getStatusCode() const { return node_info_.status.status_code; }
void setStatusCode(uint8_t code);
void setStatusOk() { setStatusCode(protocol::NodeStatus::STATUS_OK); }
void setStatusInitializing() { setStatusCode(protocol::NodeStatus::STATUS_INITIALIZING); }
void setStatusWarning() { setStatusCode(protocol::NodeStatus::STATUS_WARNING); }
void setStatusCritical() { setStatusCode(protocol::NodeStatus::STATUS_CRITICAL); }
void setStatusOffline() { setStatusCode(protocol::NodeStatus::STATUS_OFFLINE); }
uint8_t getHealth() const { return node_info_.status.health; }
void setHealth(uint8_t code);
void setHealthOk() { setHealth(protocol::NodeStatus::HEALTH_OK); }
void setHealthWarning() { setHealth(protocol::NodeStatus::HEALTH_WARNING); }
void setHealthError() { setHealth(protocol::NodeStatus::HEALTH_ERROR); }
void setHealthCritical() { setHealth(protocol::NodeStatus::HEALTH_CRITICAL); }
/**
* Local node mode code control.
*/
uint8_t getMode() const { return node_info_.status.mode; }
void setMode(uint8_t code);
void setModeOperational() { setMode(protocol::NodeStatus::MODE_OPERATIONAL); }
void setModeInitialization() { setMode(protocol::NodeStatus::MODE_INITIALIZATION); }
void setModeMaintenance() { setMode(protocol::NodeStatus::MODE_MAINTENANCE); }
void setModeSoftwareUpdate() { setMode(protocol::NodeStatus::MODE_SOFTWARE_UPDATE); }
void setModeOffline() { setMode(protocol::NodeStatus::MODE_OFFLINE); }
/**
* Local node vendor-specific status code control.

11
libuavcan/src/protocol/uc_node_status_provider.cpp
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@ -21,7 +21,7 @@ int NodeStatusProvider::publish()
UAVCAN_ASSERT(uptime.isPositive());
node_info_.status.uptime_sec = uint32_t(uptime.toMSec() / 1000);
UAVCAN_ASSERT(node_info_.status.status_code <= protocol::NodeStatus::FieldTypes::status_code::max());
UAVCAN_ASSERT(node_info_.status.health <= protocol::NodeStatus::FieldTypes::health::max());
return node_status_pub_.broadcast(node_info_.status);
}
@ -109,9 +109,14 @@ uavcan::MonotonicDuration NodeStatusProvider::getStatusPublicationPeriod() const
return TimerBase::getPeriod();
}
void NodeStatusProvider::setStatusCode(uint8_t code)
void NodeStatusProvider::setHealth(uint8_t code)
{
node_info_.status.status_code = code;
node_info_.status.health = code;
}
void NodeStatusProvider::setMode(uint8_t code)
{
node_info_.status.mode = code;
}
void NodeStatusProvider::setVendorSpecificStatusCode(VendorSpecificStatusCode code)

19
libuavcan/test/protocol/node_status_provider.cpp
View File

@ -32,9 +32,12 @@ TEST(NodeStatusProvider, Basic)
nsp.setName("superluminal_communication_unit");
ASSERT_STREQ("superluminal_communication_unit", nsp.getName().c_str());
ASSERT_EQ(uavcan::protocol::NodeStatus::STATUS_INITIALIZING, nsp.getStatusCode());
nsp.setStatusOk();
ASSERT_EQ(uavcan::protocol::NodeStatus::STATUS_OK, nsp.getStatusCode());
ASSERT_EQ(uavcan::protocol::NodeStatus::HEALTH_OK, nsp.getHealth());
ASSERT_EQ(uavcan::protocol::NodeStatus::MODE_INITIALIZATION, nsp.getMode());
nsp.setHealthError();
nsp.setModeOperational();
ASSERT_EQ(uavcan::protocol::NodeStatus::HEALTH_ERROR, nsp.getHealth());
ASSERT_EQ(uavcan::protocol::NodeStatus::MODE_OPERATIONAL, nsp.getMode());
// Will fail - types are not registered
uavcan::GlobalDataTypeRegistry::instance().reset();
@ -68,7 +71,7 @@ TEST(NodeStatusProvider, Basic)
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(10));
ASSERT_TRUE(status_sub.collector.msg.get()); // Was published at startup
ASSERT_EQ(uavcan::protocol::NodeStatus::STATUS_OK, status_sub.collector.msg->status_code);
ASSERT_EQ(uavcan::protocol::NodeStatus::HEALTH_OK, status_sub.collector.msg->health);
ASSERT_EQ(0, status_sub.collector.msg->vendor_specific_status_code);
ASSERT_GE(1, status_sub.collector.msg->uptime_sec);
@ -83,7 +86,7 @@ TEST(NodeStatusProvider, Basic)
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(10));
ASSERT_EQ(uavcan::protocol::NodeStatus::STATUS_OK, status_sub.collector.msg->status_code);
ASSERT_EQ(uavcan::protocol::NodeStatus::HEALTH_OK, status_sub.collector.msg->health);
ASSERT_EQ(1234, status_sub.collector.msg->vendor_specific_status_code);
ASSERT_GE(1, status_sub.collector.msg->uptime_sec);
@ -92,7 +95,7 @@ TEST(NodeStatusProvider, Basic)
*/
ServiceClientWithCollector<uavcan::protocol::GetNodeInfo> gni_cln(nodes.b);
nsp.setStatusCritical();
nsp.setHealthCritical();
ASSERT_FALSE(gni_cln.collector.result.get()); // No data yet
ASSERT_LE(0, gni_cln.call(1, uavcan::protocol::GetNodeInfo::Request()));
@ -103,8 +106,8 @@ TEST(NodeStatusProvider, Basic)
ASSERT_TRUE(gni_cln.collector.result->isSuccessful());
ASSERT_EQ(1, gni_cln.collector.result->getCallID().server_node_id.get());
ASSERT_EQ(uavcan::protocol::NodeStatus::STATUS_CRITICAL,
gni_cln.collector.result->getResponse().status.status_code);
ASSERT_EQ(uavcan::protocol::NodeStatus::HEALTH_CRITICAL,
gni_cln.collector.result->getResponse().status.health);
ASSERT_TRUE(hwver == gni_cln.collector.result->getResponse().hardware_version);
ASSERT_TRUE(swver == gni_cln.collector.result->getResponse().software_version);