Node<> and NodeStatusProvider updated

libuavcan/include/uavcan/node/node.hpp

@@ -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();
     }
 

libuavcan/include/uavcan/protocol/node_status_provider.hpp

@@ -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.