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Panic broadcaster moved to header

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This commit is contained in:
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/include/uavcan/protocol/panic_broadcaster.hpp
+42 -6
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@@ -5,6 +5,7 @@
#ifndef UAVCAN_PROTOCOL_PANIC_BROADCASTER_HPP_INCLUDED #ifndef UAVCAN_PROTOCOL_PANIC_BROADCASTER_HPP_INCLUDED
#define 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/publisher.hpp>
#include <uavcan/node/timer.hpp> #include <uavcan/node/timer.hpp>
#include <uavcan/protocol/Panic.hpp> #include <uavcan/protocol/Panic.hpp>
@@ -19,9 +20,19 @@ class UAVCAN_EXPORT PanicBroadcaster : private TimerBase
Publisher<protocol::Panic> pub_; Publisher<protocol::Panic> pub_;
protocol::Panic msg_; 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: public:
explicit PanicBroadcaster(INode& node) 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. * @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. * 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. * 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;
}
}; };
} }
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;
}
}