std::string toString() const
{
std::ostringstream os;
os << "ts_m=" << ts_monotonic
<< " ts_utc=" << ts_utc
<< " tt=" << transfer_type
<< " tid=" << int(transfer_id.get())
<< " snid=" << int(src_node_id.get())
<< " dnid=" << int(dst_node_id.get())
<< " dtid=" << int(data_type.getID().get())
<< "\n\t'" << payload << "'";
return os.str();
}
bool handleRestartRequest(uavcan::NodeID request_source) override
{
::syslog(LOG_INFO, "UAVCAN: Restarting by request from %i\n", int(request_source.get()));
::usleep(20 * 1000 * 1000);
px4_systemreset(false);
return true; // Will never be executed BTW
}
void printStatusLine(uavcan::NodeID nid, const uavcan::NodeStatusMonitor::NodeStatus& status)
{
const auto color_and_string = statusCodeToColoredString(status.status_code);
const int nid_int = nid.get();
std::cout << color_and_string.first;
std::cout << " " << std::setw(3) << std::left << nid_int << " | "
<< std::setw(13) << std::left << color_and_string.second << " | "
<< uptimes_[nid_int];
std::cout << OstreamColorizer() << "\n";
}
bool operator==(const Transfer& rhs) const
{
return
(ts_monotonic == rhs.ts_monotonic) &&
((!ts_utc.isZero() && !rhs.ts_utc.isZero()) ? (ts_utc == rhs.ts_utc) : true) &&
(transfer_type == rhs.transfer_type) &&
(transfer_id == rhs.transfer_id) &&
(src_node_id == rhs.src_node_id) &&
((dst_node_id.isValid() && rhs.dst_node_id.isValid()) ? (dst_node_id == rhs.dst_node_id) : true) &&
(data_type == rhs.data_type) &&
(payload == rhs.payload);
}
Transfer makeTransfer(uavcan::TransferPriority priority, uavcan::TransferType transfer_type,
uint8_t source_node_id, const std::string& payload, const uavcan::DataTypeDescriptor& type,
uavcan::NodeID dst_node_id_override = uavcan::NodeID())
{
ts_ += uavcan::MonotonicDuration::fromUSec(100);
const uavcan::UtcTime utc = uavcan::UtcTime::fromUSec(ts_.toUSec() + 1000000000ul);
const uavcan::NodeID dst_node_id = (transfer_type == uavcan::TransferTypeMessageBroadcast) ?
uavcan::NodeID::Broadcast :
(dst_node_id_override.isValid() ? dst_node_id_override : dst_node_id_);
const Transfer tr(ts_, utc, priority, transfer_type, tid_, source_node_id, dst_node_id, payload, type);
tid_.increment();
return tr;
}
bool match(StatusType status, uavcan::NodeID server_node_id, const typename DataType::Response& response) const
{
if (status == last_status &&
server_node_id == last_server_node_id &&
response == last_response)
{
return true;
}
else
{
std::cout << "MISMATCH: status=" << last_status << ", last_server_node_id="
<< int(last_server_node_id.get()) << ", last response:\n" << last_response << std::endl;
return false;
}
}
bool handleRestartRequest(uavcan::NodeID request_source) override
{
PX4_INFO("UAVCAN: Restarting by request from %i\n", int(request_source.get()));
board_reset(false);
return true; // Will never be executed BTW
}
