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111 lines
4.3 KiB
C++
111 lines
4.3 KiB
C++
/*
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* Copyright (C) 2015 Pavel Kirienko <pavel.kirienko@gmail.com>
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*/
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#ifndef UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_CLIENT_HPP_INCLUDED
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#define UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_CLIENT_HPP_INCLUDED
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#include <uavcan/node/subscriber.hpp>
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#include <uavcan/node/publisher.hpp>
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#include <uavcan/node/timer.hpp>
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#include <uavcan/util/method_binder.hpp>
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#include <uavcan/build_config.hpp>
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#include <uavcan/protocol/dynamic_node_id/Allocation.hpp>
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#include <uavcan/protocol/HardwareVersion.hpp>
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namespace uavcan
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{
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/**
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* This class implements client-side logic of dynamic node ID allocation procedure.
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*
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* Once started, the object will be publishing dynamic node ID allocation requests at the default frequency defined
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* by the specification, until a Node ID is granted by the allocator.
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*
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* If the local node is equipped with redundant CAN interfaces, all of them will be used for publishing requests
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* and listening for responses.
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*
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* Once dynamic allocation is complete (or not needed anymore), the object can be deleted.
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*
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* Note that this class uses std::rand(), which must be correctly seeded before use.
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*/
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class UAVCAN_EXPORT DynamicNodeIDClient : private TimerBase
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{
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typedef MethodBinder<DynamicNodeIDClient*,
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void (DynamicNodeIDClient::*)
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(const ReceivedDataStructure<protocol::dynamic_node_id::Allocation>&)>
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AllocationCallback;
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enum Mode
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{
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ModeWaitingForTimeSlot,
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ModeDelayBeforeFollowup,
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NumModes
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};
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Publisher<protocol::dynamic_node_id::Allocation> dnida_pub_;
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Subscriber<protocol::dynamic_node_id::Allocation, AllocationCallback> dnida_sub_;
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uint8_t unique_id_[protocol::HardwareVersion::FieldTypes::unique_id::MaxSize];
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uint8_t size_of_received_unique_id_;
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NodeID preferred_node_id_;
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NodeID allocated_node_id_;
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NodeID allocator_node_id_;
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void terminate();
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static MonotonicDuration getRandomDuration(uint32_t lower_bound_msec, uint32_t upper_bound_msec);
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void restartTimer(const Mode mode);
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virtual void handleTimerEvent(const TimerEvent&);
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void handleAllocation(const ReceivedDataStructure<protocol::dynamic_node_id::Allocation>& msg);
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public:
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DynamicNodeIDClient(INode& node)
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: TimerBase(node)
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, dnida_pub_(node)
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, dnida_sub_(node)
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, size_of_received_unique_id_(0)
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{ }
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/**
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* @param hardware_version Hardware version information, where unique_id must be set correctly.
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* @param preferred_node_id Node ID that the application would like to take; set to broadcast (zero) if
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* the application doesn't have any preference (this is default).
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* @param transfer_priority Transfer priority, Normal by default.
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* @return Zero on success
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* Negative error code on failure
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* -ErrLogic if 1. the node is not in passive mode or 2. the client is already started
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*/
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int start(const protocol::HardwareVersion& hardware_version,
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const NodeID preferred_node_id = NodeID::Broadcast,
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const TransferPriority transfer_priority = TransferPriority::OneHigherThanLowest);
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/**
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* Use this method to determine when allocation is complete.
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*/
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bool isAllocationComplete() const { return getAllocatedNodeID().isUnicast(); }
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/**
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* This method allows to retrieve the node ID that was allocated to the local node.
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* If no node ID was allocated yet, the returned node ID will be invalid (non-unicast).
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* @return If allocation is complete, a valid unicast node ID will be returned.
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* If allocation is not complete yet, a non-unicast node ID will be returned.
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*/
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NodeID getAllocatedNodeID() const { return allocated_node_id_; }
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/**
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* This method allows to retrieve node ID of the allocator that granted our Node ID.
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* If no node ID was allocated yet, the returned node ID will be invalid (non-unicast).
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* @return If allocation is complete, a valid unicast node ID will be returned.
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* If allocation is not complete yet, an non-unicast node ID will be returned.
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*/
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NodeID getAllocatorNodeID() const { return allocator_node_id_; }
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};
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}
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#endif // UAVCAN_PROTOCOL_DYNAMIC_NODE_ID_CLIENT_HPP_INCLUDED
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