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Panic broadcaster moved to header

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Pavel Kirienko
2015-05-09 12:26:22 +03:00
parent 00ec7186b0
commit ee85d2d73a
2 changed files with 42 additions and 67 deletions
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libuavcan/src/protocol/uc_panic_broadcaster.cpp
-61
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@@ -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;
}
}