void handleGlobalTimeSync(const ReceivedDataStructure<protocol::GlobalTimeSync>& msg)
{
if (msg.getTransferType() == TransferTypeMessageBroadcast)
{
processMsg(msg);
}
else
{
UAVCAN_TRACE("GlobalTimeSyncSlave", "Invalid transfer type %i", int(msg.getTransferType()));
}
}
virtual void handleReceivedDataStruct(ReceivedDataStructure<RequestType>& request)
{
UAVCAN_ASSERT(request.getTransferType() == TransferTypeServiceRequest);
ServiceResponseDataStructure<ResponseType> response;
if (coerceOrFallback<bool>(callback_, true))
{
UAVCAN_ASSERT(response.isResponseEnabled()); // Enabled by default
callback_(request, response);
}
else
{
handleFatalError("Srv serv clbk");
}
if (response.isResponseEnabled())
{
publisher_.setPriority(request.getPriority()); // Responding at the same priority.
const int res = publisher_.publish(response, TransferTypeServiceResponse, request.getSrcNodeID(),
request.getTransferID());
if (res < 0)
{
UAVCAN_TRACE("ServiceServer", "Response publication failure: %i", res);
publisher_.getNode().getDispatcher().getTransferPerfCounter().addError();
response_failure_count_++;
}
}
else
{
UAVCAN_TRACE("ServiceServer", "Response was suppressed by the application");
}
}
ReceivedDataStructureCopy(const ReceivedDataStructure& s) :
ts_monotonic(s.getMonotonicTimestamp()),
ts_utc(s.getUtcTimestamp()),
transfer_type(s.getTransferType()),
transfer_id(s.getTransferID()),
src_node_id(s.getSrcNodeID()),
iface_index(s.getIfaceIndex()),
msg(s)
{ }
