static void runMainNode(const uavcan_linux::NodePtr& node)
{
std::cout << "Running main node" << std::endl;
auto timer = node->makeTimer(uavcan::MonotonicDuration::fromMSec(10000), [&node](const uavcan::TimerEvent&)
{
node->logInfo("timer", "Your time is running out.");
// coverity[dont_call]
node->setVendorSpecificStatusCode(static_cast<std::uint16_t>(std::rand()));
});
/*
* We know that in this implementation, VirtualCanDriver inherits uavcan::IRxFrameListener, so we can simply
* restore the reference to ITxQueueInjector using dynamic_cast. In other implementations this may be
* unacceptable, so a reference to ITxQueueInjector will have to be passed using some other means.
*/
if (node->getDispatcher().getRxFrameListener() == nullptr)
{
throw std::logic_error("RX frame listener is not configured");
}
ITxQueueInjector& tx_injector = dynamic_cast<ITxQueueInjector&>(*node->getDispatcher().getRxFrameListener());
while (true)
{
const int res = node->spin(uavcan::MonotonicDuration::fromMSec(1));
if (res < 0)
{
node->logError("spin", "Error %*", res);
}
// TX queue transfer occurs here.
tx_injector.injectTxFramesInto(*node);
}
}
static void runForever(const uavcan_linux::NodePtr& node)
{
/*
* Subscribing to the UAVCAN logging topic
*/
auto log_handler = [](const uavcan::ReceivedDataStructure<uavcan::protocol::debug::LogMessage>& msg)
{
std::cout << msg << std::endl;
};
auto log_sub = node->makeSubscriber<uavcan::protocol::debug::LogMessage>(log_handler);
/*
* Printing when other nodes enter the network or change status
*/
struct NodeStatusMonitor : public uavcan::NodeStatusMonitor
{
explicit NodeStatusMonitor(uavcan::INode& node) : uavcan::NodeStatusMonitor(node) { }
void handleNodeStatusChange(const NodeStatusChangeEvent& event) override
{
std::cout << "Remote node NID " << int(event.node_id.get()) << " changed status: "
<< int(event.old_status.status_code) << " --> "
<< int(event.status.status_code) << std::endl;
}
};
NodeStatusMonitor nsm(*node);
ENFORCE(0 == nsm.start());
/*
* Adding a stupid timer that does nothing once a minute
*/
auto do_nothing_once_a_minute = [&node](const uavcan::TimerEvent&)
{
node->logInfo("timer", "Another minute passed...");
// coverity[dont_call]
node->setVendorSpecificStatusCode(static_cast<std::uint16_t>(std::rand())); // Setting to an arbitrary value
};
auto timer = node->makeTimer(uavcan::MonotonicDuration::fromMSec(60000), do_nothing_once_a_minute);
/*
* Spinning forever
*/
while (true)
{
const int res = node->spin(uavcan::MonotonicDuration::getInfinite());
if (res < 0)
{
node->logError("spin", "Error %*", res);
}
}
}