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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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libuavcan/include/uavcan/protocol/node_status_provider.hpp
+26 -9
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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.