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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Pavel Kirienko
110 lines
3.7 KiB
C++
110 lines
3.7 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_PROTOCOL_NETWORK_COMPAT_CHECKER_HPP_INCLUDED
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#define UAVCAN_PROTOCOL_NETWORK_COMPAT_CHECKER_HPP_INCLUDED
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#include <uavcan/util/bitset.hpp>
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#include <uavcan/util/method_binder.hpp>
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#include <uavcan/node/subscriber.hpp>
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#include <uavcan/node/service_client.hpp>
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#include <uavcan/protocol/ComputeAggregateTypeSignature.hpp>
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#include <uavcan/protocol/NodeStatus.hpp>
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namespace uavcan
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{
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struct UAVCAN_EXPORT NetworkCompatibilityCheckResult
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{
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NodeID conflicting_node; ///< First detected conflicting node
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uint8_t num_failed_nodes; ///< Number of nodes that did not respond to service requests (probably not supporting)
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NetworkCompatibilityCheckResult()
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: num_failed_nodes(0)
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{ }
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/**
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* Quick check if the network compatibility check did not discover any problems.
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*/
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bool isOk() const { return !conflicting_node.isValid(); }
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};
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/**
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* Performs Network Compatibility Check. Please read the specs.
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*
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* This class does not issue GlobalDiscoveryRequest, assuming that it was done already by the caller.
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* Instantiated object can @ref execute() only once.
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* Objects of this class are intended for stack allocation.
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*/
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class UAVCAN_EXPORT NetworkCompatibilityChecker : Noncopyable
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{
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typedef BitSet<NodeID::Max + 1> NodeIDMask;
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typedef MethodBinder<NetworkCompatibilityChecker*,
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void (NetworkCompatibilityChecker::*)(const ReceivedDataStructure<protocol::NodeStatus>&)>
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NodeStatusCallback;
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typedef MethodBinder<NetworkCompatibilityChecker*,
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void (NetworkCompatibilityChecker::*)(ServiceCallResult<protocol::ComputeAggregateTypeSignature>&)>
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CATSResponseCallback;
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Subscriber<protocol::NodeStatus, NodeStatusCallback> ns_sub_;
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ServiceClient<protocol::ComputeAggregateTypeSignature, CATSResponseCallback> cats_cln_;
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NodeIDMask nid_mask_present_;
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NodeIDMask nid_mask_checked_;
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NetworkCompatibilityCheckResult result_;
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DataTypeKind checking_dtkind_;
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bool last_cats_request_ok_;
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INode& getNode() { return ns_sub_.getNode(); }
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const INode& getNode() const { return ns_sub_.getNode(); }
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MonotonicDuration getNetworkDiscoveryDelay() const;
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NodeID findNextUncheckedNode();
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int waitForCATSResponse();
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void handleNodeStatus(const ReceivedDataStructure<protocol::NodeStatus>& msg);
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void handleCATSResponse(ServiceCallResult<protocol::ComputeAggregateTypeSignature>& resp);
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int checkOneNodeOneDataTypeKind(NodeID nid, DataTypeKind kind);
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int checkOneNode(NodeID nid);
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int checkNodes();
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public:
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explicit NetworkCompatibilityChecker(INode& node)
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: ns_sub_(node)
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, cats_cln_(node)
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, checking_dtkind_(DataTypeKindService)
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, last_cats_request_ok_(false)
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{ }
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/**
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* Run the check.
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* Beware: this method may block for a several seconds!
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*
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* If this method has been executed successfully, use @ref getResult() to get the actual check result.
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*
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* This method can be executed only once on a given instance of this class (shall be
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* destroyed and reconstructed from scratch).
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*
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* Returns negative error code.
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*/
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int execute();
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/**
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* This method can return a meaningful result only if @ref execute() has been executed successfully once.
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*/
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const NetworkCompatibilityCheckResult& getResult() const { return result_; }
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/**
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* Convenience method. Should be called immediately before @ref execute().
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* Returns negative error code.
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*/
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static int publishGlobalDiscoveryRequest(INode& node);
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};
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}
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#endif // UAVCAN_PROTOCOL_NETWORK_COMPAT_CHECKER_HPP_INCLUDED
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