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uavcan_linux::Node::makeBlockingServiceClient()

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This commit is contained in:
Pavel Kirienko
2014-04-29 13:59:11 +04:00
parent 5d272ca410
commit ea19fea568
2 changed files with 86 additions and 77 deletions
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libuavcan_drivers/linux/test/test_nodetool.cpp
+13 -13
View File
@@ -135,14 +135,14 @@ void executeCommand(const uavcan_linux::NodePtr& node, const std::string& cmd,
{
if (cmd == "param")
{
uavcan_linux::BlockingServiceClient<uavcan::protocol::param::GetSet> get_set(*node);
auto client = node->makeBlockingServiceClient<uavcan::protocol::param::GetSet>();
printGetSetResponseHeader();
uavcan::protocol::param::GetSet::Request request;
if (args.empty())
{
while (true)
{
auto response = call(get_set, node_id, request);
auto response = call(*client, node_id, request);
if (response.name.empty())
{
break;
@@ -155,25 +155,25 @@ void executeCommand(const uavcan_linux::NodePtr& node, const std::string& cmd,
{
request.name = args.at(0).c_str();
request.value.value_float.push_back(std::stof(args.at(1)));
printGetSetResponse(call(get_set, node_id, request));
printGetSetResponse(call(*client, node_id, request));
}
}
else if (cmd == "param_save" || cmd == "param_erase")
{
uavcan_linux::BlockingServiceClient<uavcan::protocol::param::SaveErase> save_erase(*node);
auto client = node->makeBlockingServiceClient<uavcan::protocol::param::SaveErase>();
uavcan::protocol::param::SaveErase::Request request;
request.opcode = (cmd == "param_save") ? request.OPCODE_SAVE : request.OPCODE_ERASE;
std::cout << call(save_erase, node_id, request) << std::endl;
std::cout << call(*client, node_id, request) << std::endl;
}
else if (cmd == "restart")
{
uavcan_linux::BlockingServiceClient<uavcan::protocol::RestartNode> restart(*node);
auto client = node->makeBlockingServiceClient<uavcan::protocol::RestartNode>();
uavcan::protocol::RestartNode::Request request;
request.magic_number = request.MAGIC_NUMBER;
(void)restart.blockingCall(node_id, request);
if (restart.wasSuccessful())
(void)client->blockingCall(node_id, request);
if (client->wasSuccessful())
{
std::cout << restart.getResponse() << std::endl;
std::cout << client->getResponse() << std::endl;
}
else
{
@@ -182,13 +182,13 @@ void executeCommand(const uavcan_linux::NodePtr& node, const std::string& cmd,
}
else if (cmd == "info")
{
uavcan_linux::BlockingServiceClient<uavcan::protocol::GetNodeInfo> client(*node);
std::cout << call(client, node_id, uavcan::protocol::GetNodeInfo::Request()) << std::endl;
auto client = node->makeBlockingServiceClient<uavcan::protocol::GetNodeInfo>();
std::cout << call(*client, node_id, uavcan::protocol::GetNodeInfo::Request()) << std::endl;
}
else if (cmd == "tstat")
{
uavcan_linux::BlockingServiceClient<uavcan::protocol::GetTransportStats> client(*node);
std::cout << call(client, node_id, uavcan::protocol::GetTransportStats::Request()) << std::endl;
auto client = node->makeBlockingServiceClient<uavcan::protocol::GetTransportStats>();
std::cout << call(*client, node_id, uavcan::protocol::GetTransportStats::Request()) << std::endl;
}
else if (cmd == "hardpoint")
{