mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-08 05:20:35 +08:00
Pavel Kirienko
37 lines
1.1 KiB
C++
37 lines
1.1 KiB
C++
/*
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* Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
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*/
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#include <uavcan/protocol/restart_request_server.hpp>
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#include <uavcan/debug.hpp>
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namespace uavcan
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{
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void RestartRequestServer::handleRestartNode(const ReceivedDataStructure<protocol::RestartNode::Request>& request,
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protocol::RestartNode::Response& response) const
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{
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UAVCAN_TRACE("RestartRequestServer", "Request from snid=%i", int(request.getSrcNodeID().get()));
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response.ok = false;
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if (request.magic_number == protocol::RestartNode::Request::MAGIC_NUMBER)
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{
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if (handler_)
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{
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response.ok = handler_->handleRestartRequest(request.getSrcNodeID());
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}
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UAVCAN_TRACE("RestartRequestServer", "%s", (response.ok ? "Accepted" : "Rejected"));
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}
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else
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{
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UAVCAN_TRACE("RestartRequestServer", "Invalid magic number 0x%llx",
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static_cast<unsigned long long>(request.magic_number));
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}
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}
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int RestartRequestServer::start()
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{
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return srv_.start(RestartNodeCallback(this, &RestartRequestServer::handleRestartNode));
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}
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}
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