Struct canadensis_data_types::reg::udral::service::common::heartbeat_0_1::Heartbeat

pub struct Heartbeat {
    pub readiness: Readiness,
    pub health: Health,
}

reg.udral.service.common.Heartbeat.0.1

Fixed size 2 bytes

The function of the service heartbeat is similar to that of the node heartbeat defined in the standard namespace, except that it is used on a per-service basis, meaning that there may be more than one publisher per node.

The service heartbeat should be published either on a separate subject, or as a structural supertype of a service-specific status subject. The publication rate is service-specific but it should not be lower than 1 Hz.

This is a structural subtype of the Readiness type.

Fields

readiness: Readiness

reg.udral.service.common.Readiness.0.1

Always aligned, size 8 bits

health: Health

uavcan.node.Health.1.0

Always aligned, size 8 bits

Implementations

impl Heartbeat

pub const MAX_PUBLICATION_PERIOD: u8 = 1u8

Any service that is not in the SLEEP state should publish its heartbeat (or a derived status) at least at this rate.

Trait Implementations

impl DataType for Heartbeat

const EXTENT_BYTES: Option<u32> = None

This type is sealed.

impl Deserialize for Heartbeat

fn deserialize(cursor: &mut ReadCursor<'_>) -> Result<Self, DeserializeError>where Self: Sized,

Deserializes a value and returns it

fn deserialize_from_bytes(bytes: &[u8]) -> Result<Self, DeserializeError>where Self: Sized,

A convenience function that creates a cursor around the provided bytes and calls deserialize

impl Serialize for Heartbeat

fn size_bits(&self) -> usize

Returns the size of the encoded form of this value, in bits

fn serialize(&self, cursor: &mut WriteCursor<'_>)

Serializes this value into a buffer

fn serialize_to_bytes(&self, bytes: &mut [u8])

A convenience function that creates a cursor around the provided bytes and calls serialize

impl Message for Heartbeat