Generic publisher, suitable for messages and services. More...

Inherits uavcan::GenericPublisherBase.

Public Member Functions
	GenericPublisher (INode &node, MonotonicDuration tx_timeout, MonotonicDuration max_transfer_interval=TransferSender::getDefaultMaxTransferInterval())
int	init ()
	Init method can be called prior first publication, but it's not necessary because the publisher can be automatically initialized ad-hoc.
int	init (TransferPriority priority)
	This overload allows to set the priority; otherwise it's the same.
void	allowAnonymousTransfers ()
	By default, attempt to send a transfer from passive mode will result in an error ErrPassive.
TransferPriority	getPriority () const
	Priority of outgoing transfers.

Detailed Description

Generic publisher, suitable for messages and services.

DataSpec - data type specification class DataStruct - instantiable class

Definition at line 85 of file generic_publisher.hpp.

Constructor & Destructor Documentation

GenericPublisher	(	INode &	node,
		MonotonicDuration	tx_timeout,
		MonotonicDuration	max_transfer_interval = `TransferSender::getDefaultMaxTransferInterval()`
	)

Parameters:

max_transfer_interval Maximum expected time interval between subsequent publications. Leave default.

Definition at line 113 of file generic_publisher.hpp.

void allowAnonymousTransfers ( ) [inherited]

By default, attempt to send a transfer from passive mode will result in an error ErrPassive.

This option allows to enable sending anonymous transfers from passive mode.

Definition at line 65 of file generic_publisher.hpp.

TransferPriority getPriority ( ) const [inherited]

Priority of outgoing transfers.

Definition at line 73 of file generic_publisher.hpp.

int init ( )

Init method can be called prior first publication, but it's not necessary because the publisher can be automatically initialized ad-hoc.

Definition at line 124 of file generic_publisher.hpp.

int init ( TransferPriority priority )

This overload allows to set the priority; otherwise it's the same.

Definition at line 132 of file generic_publisher.hpp.