virtual void onEvent(uavcan::dynamic_node_id_server::TraceCode code, uavcan::int64_t argument)
{
const uavcan::MonotonicDuration ts = SystemClockDriver().getMonotonic() - startup_ts_;
std::cout << "EVENT [" << id_ << "]\t" << ts.toString() << "\t"
<< code << "\t" << getEventName(code) << "\t" << argument << std::endl;
event_log_.push_back(EventLogEntry(code, argument));
}
void NodeStatusProvider::setStatusPublishingPeriod(uavcan::MonotonicDuration period)
{
const MonotonicDuration maximum = MonotonicDuration::fromMSec(protocol::NodeStatus::MAX_PUBLICATION_PERIOD_MS);
const MonotonicDuration minimum = MonotonicDuration::fromMSec(protocol::NodeStatus::MIN_PUBLICATION_PERIOD_MS);
period = min(period, maximum);
period = max(period, minimum);
TimerBase::startPeriodic(period);
const MonotonicDuration tx_timeout = period - MonotonicDuration::fromUSec(period.toUSec() / 20);
node_status_pub_.setTxTimeout(tx_timeout);
UAVCAN_TRACE("NodeStatusProvider", "Status pub period: %s, TX timeout: %s",
period.toString().c_str(), node_status_pub_.getTxTimeout().toString().c_str());
}