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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Pavel Kirienko
47 lines
1.3 KiB
C++
47 lines
1.3 KiB
C++
/*
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* Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
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*/
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#pragma once
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#include <uavcan/node/service_server.hpp>
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#include <uavcan/util/method_binder.hpp>
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#include <uavcan/protocol/RestartNode.hpp>
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namespace uavcan
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{
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class IRestartRequestHandler
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{
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public:
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virtual ~IRestartRequestHandler() { }
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virtual bool handleRestartRequest(NodeID request_source) = 0;
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};
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class RestartRequestServer : Noncopyable
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{
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typedef MethodBinder<const RestartRequestServer*,
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void (RestartRequestServer::*)(const ReceivedDataStructure<protocol::RestartNode::Request>&,
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protocol::RestartNode::Response&) const> RestartNodeCallback;
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ServiceServer<protocol::RestartNode, RestartNodeCallback> srv_;
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IRestartRequestHandler* handler_;
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void handleRestartNode(const ReceivedDataStructure<protocol::RestartNode::Request>& request,
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protocol::RestartNode::Response& response) const;
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public:
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explicit RestartRequestServer(INode& node)
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: srv_(node)
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, handler_(NULL)
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{ }
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IRestartRequestHandler* getHandler() const { return handler_; }
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void setHandler(IRestartRequestHandler* handler) { handler_ = handler; }
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int start();
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};
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}
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