Struct canadensis::node::MinimalNode

pub struct MinimalNode<N>where
    N: Node,{ /* private fields */ }

A node with the minimum required application-layer functionality

A BasicNode wraps a Node and adds functionality to send a uavcan.node.Heartbeat.1.0 message every second. This is the only application-layer function that is required for all nodes.

A BasicNode uses up one publisher slot in the underlying Node.

The underlying node type N is usually a CoreNode.

Implementations

impl<N> MinimalNode<N>where N: Node,

pub fn new( node: N ) -> Result<Self, StartSendError<<N::Transmitter as Transmitter<N::Clock>>::Error>>

Creates a new minimal node

• node: The underlying node (this is usually a CoreNode)

pub fn run_per_second_tasks( &mut self ) -> Result<(), <N::Transmitter as Transmitter<N::Clock>>::Error>

This function must be called once per second to send heartbeat messages

Unlike run_periodic_tasks, this function does not check if one second has passed since the last time it was called.

Either run_periodic_tasks or run_per_second_tasks should be called, but not both.

pub fn set_mode(&mut self, mode: Mode)

Sets the operating mode that will be reported in the heartbeat messages

pub fn set_health(&mut self, health: Health)

Sets the health status that will be reported in the heartbeat messages

pub fn set_status_code(&mut self, status: u8)

Sets the vendor-specific status code that will be reported in the heartbeat messages

pub fn node(&self) -> &N

Returns a reference to the enclosed node

pub fn node_mut(&mut self) -> &mut N

Returns a mutable reference to the enclosed node