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Pavel Kirienko
31 lines
1.1 KiB
Plaintext
31 lines
1.1 KiB
Plaintext
#
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# Abstract node status information.
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# Any UAVCAN node is required to publish this message periodically.
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# It is NOT recommended to change its publication rate at run time.
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#
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# See http://uavcan.org/Standard_data_types_and_application_level_functions
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#
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uint16 MAX_PUBLICATION_PERIOD_MS = 1000
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uint16 MIN_PUBLICATION_PERIOD_MS = 2
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# If a node fails to publish this message in this amount of time, it should be considered offline.
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uint16 OFFLINE_TIMEOUT_MS = 3000
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# Uptime counter should never overflow.
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uint28 uptime_sec
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# Status code should be used to reflect the node status in the most abstract way.
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# OFFLINE status can be actually reported by the node to explicitly inform other network
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# participants that the sending node is about to shutdown. In this case other nodes will not
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# have to wait OFFLINE_TIMEOUT_MS before they detect that the node is no longer available.
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uint4 STATUS_OK = 0
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uint4 STATUS_INITIALIZING = 1
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uint4 STATUS_WARNING = 2
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uint4 STATUS_CRITICAL = 3
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uint4 STATUS_OFFLINE = 15
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uint4 status_code
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# Optional, vendor-specific node status code, e.g. a fault code or a status bitmask.
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uint16 vendor_specific_status_code
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