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96 lines
3.5 KiB
C++
96 lines
3.5 KiB
C++
/*
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* Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
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*/
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#ifndef UAVCAN_NODE_ABSTRACT_NODE_HPP_INCLUDED
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#define UAVCAN_NODE_ABSTRACT_NODE_HPP_INCLUDED
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#include <uavcan/build_config.hpp>
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#include <uavcan/node/scheduler.hpp>
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#include <uavcan/node/marshal_buffer.hpp>
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namespace uavcan
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{
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/**
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* Abstract node class. If you're going to implement your own node class for your application,
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* please inherit this class so it can be used with default publisher, subscriber, server, etc. classes.
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* Normally you don't need to use it directly though - please refer to the class Node<> instead.
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*/
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class UAVCAN_EXPORT INode
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{
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public:
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virtual ~INode() { }
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virtual IPoolAllocator& getAllocator() = 0;
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virtual Scheduler& getScheduler() = 0;
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virtual const Scheduler& getScheduler() const = 0;
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virtual IMarshalBufferProvider& getMarshalBufferProvider() = 0;
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virtual void registerInternalFailure(const char* msg) = 0;
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Dispatcher& getDispatcher() { return getScheduler().getDispatcher(); }
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const Dispatcher& getDispatcher() const { return getScheduler().getDispatcher(); }
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ISystemClock& getSystemClock() { return getScheduler().getSystemClock(); }
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MonotonicTime getMonotonicTime() const { return getScheduler().getMonotonicTime(); }
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UtcTime getUtcTime() const { return getScheduler().getUtcTime(); }
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/**
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* Returns the Node ID of this node.
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* If Node ID was not set yet, an invalid value will be returned.
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*/
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NodeID getNodeID() const { return getScheduler().getDispatcher().getNodeID(); }
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/**
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* Sets the Node ID of this node.
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* Node ID can be assigned only once. This method returns true if the Node ID was successfully assigned, otherwise
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* it returns false.
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* As long as a valid Node ID is not set, the node will remain in passive mode.
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* Using a non-unicast Node ID puts the node into passive mode (as default).
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*/
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bool setNodeID(NodeID nid)
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{
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return getScheduler().getDispatcher().setNodeID(nid);
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}
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/**
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* Whether the node is in passive mode, i.e. can't transmit anything to the bus.
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* Please read the specs to learn more.
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*/
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bool isPassiveMode() const { return getScheduler().getDispatcher().isPassiveMode(); }
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/**
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* Same as @ref spin(MonotonicDuration), but the deadline is specified as an absolute time value
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* rather than duration.
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*/
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int spin(MonotonicTime deadline)
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{
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return getScheduler().spin(deadline);
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}
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/**
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* Runs the node.
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* Normally your application should not block anywhere else.
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* Block inside this method forever or call it periodically.
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* This method returns 0 if no errors occurred, or a negative error code if something failed (see error.hpp).
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*/
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int spin(MonotonicDuration duration)
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{
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return getScheduler().spin(getMonotonicTime() + duration);
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}
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/**
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* This method is designed for non-blocking applications.
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* Instead of blocking, it returns immediately once all available CAN frames and timer events are processed.
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* Note that this is unlike plain @ref spin(), which will strictly return when the deadline is reached,
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* even if there still are unprocessed events.
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* This method returns 0 if no errors occurred, or a negative error code if something failed (see error.hpp).
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*/
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int spinOnce()
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{
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return getScheduler().spinOnce();
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}
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};
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}
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#endif // UAVCAN_NODE_ABSTRACT_NODE_HPP_INCLUDED
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