From ee85d2d73a0631c5a19ce81fda8576f6de55faa3 Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Sat, 9 May 2015 12:26:22 +0300
Subject: [PATCH] Panic broadcaster moved to header

---
 .../uavcan/protocol/panic_broadcaster.hpp     | 48 +++++++++++++--
 .../src/protocol/uc_panic_broadcaster.cpp     | 61 -------------------
 2 files changed, 42 insertions(+), 67 deletions(-)
 delete mode 100644 libuavcan/src/protocol/uc_panic_broadcaster.cpp

diff --git a/libuavcan/include/uavcan/protocol/panic_broadcaster.hpp b/libuavcan/include/uavcan/protocol/panic_broadcaster.hpp
index c05a55fe2e..2a15b5d1d6 100644
--- a/libuavcan/include/uavcan/protocol/panic_broadcaster.hpp
+++ b/libuavcan/include/uavcan/protocol/panic_broadcaster.hpp
@@ -5,6 +5,7 @@
 #ifndef UAVCAN_PROTOCOL_PANIC_BROADCASTER_HPP_INCLUDED
 #define UAVCAN_PROTOCOL_PANIC_BROADCASTER_HPP_INCLUDED
 
+#include <uavcan/debug.hpp>
 #include <uavcan/node/publisher.hpp>
 #include <uavcan/node/timer.hpp>
 #include <uavcan/protocol/Panic.hpp>
@@ -19,9 +20,19 @@ class UAVCAN_EXPORT PanicBroadcaster : private TimerBase
     Publisher<protocol::Panic> pub_;
     protocol::Panic msg_;
 
-    void publishOnce();
+    void publishOnce()
+    {
+        const int res = pub_.broadcast(msg_);
+        if (res < 0)
+        {
+            pub_.getNode().registerInternalFailure("Panic pub failed");
+        }
+    }
 
-    virtual void handleTimerEvent(const TimerEvent&);
+    virtual void handleTimerEvent(const TimerEvent&)
+    {
+        publishOnce();
+    }
 
 public:
     explicit PanicBroadcaster(INode& node)
@@ -37,16 +48,41 @@ public:
      * @param short_reason Short ASCII string that describes the reason of the panic, 7 characters max.
      *                     If the string exceeds 7 characters, it will be truncated.
      */
-    void panic(const char* short_reason_description);
+    void panic(const char* short_reason_description)
+    {
+        msg_.reason_text.clear();
+        const char* p = short_reason_description;
+        while (p && *p)
+        {
+            if (msg_.reason_text.size() == msg_.reason_text.capacity())
+            {
+                break;
+            }
+            msg_.reason_text.push_back(protocol::Panic::FieldTypes::reason_text::ValueType(*p));
+            p++;
+        }
+
+        UAVCAN_TRACE("PanicBroadcaster", "Panicking with reason '%s'", getReason().c_str());
+
+        publishOnce();
+        startPeriodic(MonotonicDuration::fromMSec(protocol::Panic::BROADCASTING_INTERVAL_MS));
+    }
 
     /**
      * Stop broadcasting immediately.
      */
-    void dontPanic();    // Where's my towel
+    void dontPanic()    // Where's my towel
+    {
+        stop();
+        msg_.reason_text.clear();
+    }
 
-    bool isPanicking() const;
+    bool isPanicking() const { return isRunning(); }
 
-    const typename protocol::Panic::FieldTypes::reason_text& getReason() const;
+    const typename protocol::Panic::FieldTypes::reason_text& getReason() const
+    {
+        return msg_.reason_text;
+    }
 };
 
 }
diff --git a/libuavcan/src/protocol/uc_panic_broadcaster.cpp b/libuavcan/src/protocol/uc_panic_broadcaster.cpp
deleted file mode 100644
index 8c73929586..0000000000
--- a/libuavcan/src/protocol/uc_panic_broadcaster.cpp
+++ /dev/null
@@ -1,61 +0,0 @@
-/*
- * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
- */
-
-#include <uavcan/protocol/panic_broadcaster.hpp>
-#include <uavcan/debug.hpp>
-
-namespace uavcan
-{
-
-void PanicBroadcaster::publishOnce()
-{
-    const int res = pub_.broadcast(msg_);
-    if (res < 0)
-    {
-        pub_.getNode().registerInternalFailure("Panic pub failed");
-    }
-}
-
-void PanicBroadcaster::handleTimerEvent(const TimerEvent&)
-{
-    publishOnce();
-}
-
-void PanicBroadcaster::panic(const char* short_reason_description)
-{
-    msg_.reason_text.clear();
-    const char* p = short_reason_description;
-    while (p && *p)
-    {
-        if (msg_.reason_text.size() == msg_.reason_text.capacity())
-        {
-            break;
-        }
-        msg_.reason_text.push_back(protocol::Panic::FieldTypes::reason_text::ValueType(*p));
-        p++;
-    }
-
-    UAVCAN_TRACE("PanicBroadcaster", "Panicking with reason '%s'", getReason().c_str());
-
-    publishOnce();
-    startPeriodic(MonotonicDuration::fromMSec(protocol::Panic::BROADCASTING_INTERVAL_MS));
-}
-
-void PanicBroadcaster::dontPanic()
-{
-    stop();
-    msg_.reason_text.clear();
-}
-
-bool PanicBroadcaster::isPanicking() const
-{
-    return isRunning();
-}
-
-const typename protocol::Panic::FieldTypes::reason_text& PanicBroadcaster::getReason() const
-{
-    return msg_.reason_text;
-}
-
-}