UavcanPublisherBase.hpp 2.4 KB
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#pragma once

#include <containers/IntrusiveSortedList.hpp>
#include <uavcan/uavcan.hpp>

#include <uavcan/node/publisher.hpp>

namespace uavcannode
{

class UavcanPublisherBase : public IntrusiveSortedListNode<UavcanPublisherBase *>
{
public:
	UavcanPublisherBase() = delete;
	explicit UavcanPublisherBase(uint16_t id) : _id(id) {}

	virtual ~UavcanPublisherBase() = default;

	/**
	 * Prints current status in a human readable format to stdout.
	 */
	virtual void PrintInfo() = 0;

	virtual void BroadcastAnyUpdates() = 0;

	// sorted numerically by ID
	bool operator<=(UavcanPublisherBase &rhs) { return id() <= rhs.id(); }

	uint16_t id() const { return _id; }

private:
	uint16_t _id{0};
};
} // namespace uavcannode