Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Dependents: UAVCAN UAVCAN_Subscriber
SubNode< MemPoolSize > Class Template Reference
This node object can be used in multiprocess UAVCAN nodes. More...
#include <sub_node.hpp>
Inherits uavcan::INode.
Public Member Functions | |
| SubNode (ICanDriver &can_driver, ISystemClock &system_clock) | |
| This overload is only valid if MemPoolSize > 0. | |
| SubNode (ICanDriver &can_driver, ISystemClock &system_clock, IPoolAllocator &allocator) | |
| This overload is only valid if MemPoolSize == 0. | |
| NodeID | getNodeID () const |
| Returns the Node ID of this node. | |
| bool | setNodeID (NodeID nid) |
| Sets the Node ID of this node. | |
| bool | isPassiveMode () const |
| Whether the node is in passive mode, i.e. | |
| int | spin (MonotonicTime deadline) |
| Same as spin(MonotonicDuration), but the deadline is specified as an absolute time value rather than duration. | |
| int | spin (MonotonicDuration duration) |
| Runs the node. | |
| int | spinOnce () |
| This method is designed for non-blocking applications. | |
| int | injectTxFrame (const CanFrame &frame, MonotonicTime tx_deadline, uint8_t iface_mask, CanTxQueue::Qos qos=CanTxQueue::Volatile, CanIOFlags flags=0) |
| This method allows to directly transmit a raw CAN frame circumventing the whole UAVCAN stack. | |
| void | removeRxFrameListener () |
| The IRxFrameListener interface allows one to monitor all incoming CAN frames. | |
Detailed Description
template<std::size_t MemPoolSize = 0>
class uavcan::SubNode< MemPoolSize >
This node object can be used in multiprocess UAVCAN nodes.
Please refer to the Node<> for documentation concerning the template arguments; refer to the tutorials to lean how to use libuavcan in multiprocess applications.
Definition at line 24 of file sub_node.hpp.
Constructor & Destructor Documentation
| SubNode | ( | ICanDriver & | can_driver, |
| ISystemClock & | system_clock | ||
| ) |
This overload is only valid if MemPoolSize > 0.
Reimplemented in SubNode.
Definition at line 49 of file sub_node.hpp.
| SubNode | ( | ICanDriver & | can_driver, |
| ISystemClock & | system_clock, | ||
| IPoolAllocator & | allocator | ||
| ) |
This overload is only valid if MemPoolSize == 0.
Definition at line 58 of file sub_node.hpp.
Member Function Documentation
| NodeID getNodeID | ( | ) | const [inherited] |
Returns the Node ID of this node.
If Node ID was not set yet, an invalid value will be returned.
Definition at line 39 of file abstract_node.hpp.
| int injectTxFrame | ( | const CanFrame & | frame, |
| MonotonicTime | tx_deadline, | ||
| uint8_t | iface_mask, | ||
| CanTxQueue::Qos | qos = CanTxQueue::Volatile, |
||
| CanIOFlags | flags = 0 |
||
| ) | [inherited] |
This method allows to directly transmit a raw CAN frame circumventing the whole UAVCAN stack.
Mandatory parameters:
- Parameters:
-
frame CAN frame to be transmitted. tx_deadline The frame will be discarded if it could not be transmitted by this time. iface_mask This bitmask allows to select what CAN interfaces this frame should go into. Example: - 1 - the frame will be sent only to iface 0.
- 4 - the frame will be sent only to iface 2.
- 3 - the frame will be sent to ifaces 0 and 1.
Optional parameters:
- Parameters:
-
qos Quality of service. Please refer to the CAN IO manager for details. flags CAN IO flags. Please refer to the CAN driver API for details.
Definition at line 111 of file abstract_node.hpp.
| bool isPassiveMode | ( | ) | const [inherited] |
Whether the node is in passive mode, i.e.
can't transmit anything to the bus. Please read the specs to learn more.
Definition at line 57 of file abstract_node.hpp.
| void removeRxFrameListener | ( | ) | [inherited] |
The IRxFrameListener interface allows one to monitor all incoming CAN frames.
This feature can be used to implement multithreaded nodes, or to add secondary protocol support.
Definition at line 123 of file abstract_node.hpp.
| bool setNodeID | ( | NodeID | nid ) | [inherited] |
Sets the Node ID of this node.
Node ID can be assigned only once. This method returns true if the Node ID was successfully assigned, otherwise it returns false. As long as a valid Node ID is not set, the node will remain in passive mode. Using a non-unicast Node ID puts the node into passive mode (as default).
Definition at line 48 of file abstract_node.hpp.
| int spin | ( | MonotonicDuration | duration ) | [inherited] |
Runs the node.
Normally your application should not block anywhere else. Block inside this method forever or call it periodically. This method returns 0 if no errors occurred, or a negative error code if something failed (see error.hpp).
Reimplemented in Node< MemPoolSize >, and Node< NodeMemPoolSize >.
Definition at line 74 of file abstract_node.hpp.
| int spin | ( | MonotonicTime | deadline ) | [inherited] |
Same as spin(MonotonicDuration), but the deadline is specified as an absolute time value rather than duration.
Reimplemented in Node< MemPoolSize >, and Node< NodeMemPoolSize >.
Definition at line 63 of file abstract_node.hpp.
| int spinOnce | ( | ) | [inherited] |
This method is designed for non-blocking applications.
Instead of blocking, it returns immediately once all available CAN frames and timer events are processed. Note that this is unlike plain spin(), which will strictly return when the deadline is reached, even if there still are unprocessed events. This method returns 0 if no errors occurred, or a negative error code if something failed (see error.hpp).
Reimplemented in Node< MemPoolSize >, and Node< NodeMemPoolSize >.
Definition at line 86 of file abstract_node.hpp.
Generated on Tue Jul 12 2022 17:17:37 by
1.7.2