Diff: libuavcan_drivers/linux/apps/test_node.cpp

Revision:

0:dfe6edabb8ec

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/libuavcan_drivers/linux/apps/test_node.cpp	Sat Apr 14 10:25:32 2018 +0000
@@ -0,0 +1,120 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#include <iostream>
+#include <uavcan_linux/uavcan_linux.hpp>
+#include <uavcan/protocol/node_status_monitor.hpp>
+#include "debug.hpp"
+
+static uavcan_linux::NodePtr initNode(const std::vector<std::string>& ifaces, uavcan::NodeID nid,
+                                      const std::string& name)
+{
+    auto node = uavcan_linux::makeNode(ifaces);
+
+    /*
+     * Configuring the node.
+     */
+    node->setNodeID(nid);
+    node->setName(name.c_str());
+
+    node->getLogger().setLevel(uavcan::protocol::debug::LogLevel::DEBUG);
+
+    /*
+     * Starting the node.
+     */
+    std::cout << "Starting the node..." << std::endl;
+    const int start_res = node->start();
+    std::cout << "Start returned: " << start_res << std::endl;
+    ENFORCE(0 == start_res);
+
+    std::cout << "Node started successfully" << std::endl;
+
+    /*
+     * Say Hi to the world.
+     */
+    node->setModeOperational();
+    node->logInfo("init", "Hello world! I'm [%*], NID %*",
+                  node->getNodeStatusProvider().getName().c_str(), int(node->getNodeID().get()));
+    return 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: "
+                      << event.old_status.toString() << " --> "
+                      << event.status.toString() << 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);
+        }
+    }
+}
+
+int main(int argc, const char** argv)
+{
+    try
+    {
+        if (argc < 3)
+        {
+            std::cerr << "Usage:\n\t" << argv[0] << " <node-id> <can-iface-name-1> [can-iface-name-N...]" << std::endl;
+            return 1;
+        }
+        const int self_node_id = std::stoi(argv[1]);
+        std::vector<std::string> iface_names;
+        for (int i = 2; i < argc; i++)
+        {
+            iface_names.emplace_back(argv[i]);
+        }
+        uavcan_linux::NodePtr node = initNode(iface_names, self_node_id, "org.uavcan.linux_test_node");
+        std::cout << "Node initialized successfully" << std::endl;
+        runForever(node);
+        return 0;
+    }
+    catch (const std::exception& ex)
+    {
+        std::cerr << "Exception: " << ex.what() << std::endl;
+        return 1;
+    }
+}