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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/src/protocol/uc_node_status_provider.cpp
+8 -3
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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)