#
# Abstract node status information.
# Any UAVCAN node is required to publish this message periodically.
# It is NOT recommended to change its publication rate at run time.
#
# See http://uavcan.org/Standard_data_types_and_application_level_functions
#

uint16 MAX_PUBLICATION_PERIOD_MS = 1000
uint16 MIN_PUBLICATION_PERIOD_MS = 2

# If a node fails to publish this message in this amount of time, it should be considered offline.
uint16 OFFLINE_TIMEOUT_MS = 3000

# Uptime counter should never overflow.
uint28 uptime_sec

# Status code should be used to reflect the node status in the most abstract way.
# OFFLINE status can be actually reported by the node to explicitly inform other network
# participants that the sending node is about to shutdown. In this case other nodes will not
# have to wait OFFLINE_TIMEOUT_MS before they detect that the node is no longer available.
uint4 STATUS_OK           = 0
uint4 STATUS_INITIALIZING = 1
uint4 STATUS_WARNING      = 2
uint4 STATUS_CRITICAL     = 3
uint4 STATUS_OFFLINE      = 15
uint4 status_code

# Optional, vendor-specific node status code, e.g. a fault code or a status bitmask.
uint16 vendor_specific_status_code