void handleGetNodeInfoResponse(const ServiceCallResult<protocol::GetNodeInfo>& result)
{
Entry& entry = getEntry(result.getCallID().server_node_id);
if (result.isSuccessful())
{
/*
* Updating the uptime here allows to properly handle a corner case where the service response arrives
* after the device has restarted and published its new NodeStatus (although it's unlikely to happen).
*/
entry.uptime_sec = result.getResponse().status.uptime_sec;
entry.request_needed = false;
listeners_.forEach(NodeInfoRetrievedHandlerCaller(result.getCallID().server_node_id,
result.getResponse()));
}
else
{
if (num_attempts_ != UnlimitedRequestAttempts)
{
entry.num_attempts_made++;
if (entry.num_attempts_made >= num_attempts_)
{
entry.request_needed = false;
listeners_.forEach(GenericHandlerCaller<NodeID>(&INodeInfoListener::handleNodeInfoUnavailable,
result.getCallID().server_node_id));
}
}
}
}
virtual void handleNodeStatusChange(const NodeStatusChangeEvent& event)
{
const bool was_offline = !event.old_status.known ||
(event.old_status.status_code == protocol::NodeStatus::STATUS_OFFLINE);
const bool offline_now = !event.status.known ||
(event.status.status_code == protocol::NodeStatus::STATUS_OFFLINE);
if (was_offline || offline_now)
{
Entry& entry = getEntry(event.node_id);
entry.request_needed = !offline_now;
entry.num_attempts_made = 0;
UAVCAN_TRACE("NodeInfoRetriever", "Offline status change: node ID %d, request needed: %d",
int(event.node_id.get()), int(entry.request_needed));
if (entry.request_needed)
{
startTimerIfNotRunning();
}
}
listeners_.forEach(
GenericHandlerCaller<const NodeStatusChangeEvent&>(&INodeInfoListener::handleNodeStatusChange, event));
}
virtual void handleNodeStatusMessage(const ReceivedDataStructure<protocol::NodeStatus>& msg)
{
Entry& entry = getEntry(msg.getSrcNodeID());
if (msg.uptime_sec < entry.uptime_sec)
{
entry.request_needed = true;
entry.num_attempts_made = 0;
startTimerIfNotRunning();
}
entry.uptime_sec = msg.uptime_sec;
entry.updated_since_last_attempt = true;
listeners_.forEach(GenericHandlerCaller<const ReceivedDataStructure<protocol::NodeStatus>&>(
&INodeInfoListener::handleNodeStatusMessage, msg));
}
