From 229ff9f7018ddafe42c11dd937aae8af39e6e216 Mon Sep 17 00:00:00 2001
From: David Sidrane <david_s5@nscdg.com>
Date: Thu, 26 Mar 2015 05:33:47 -1000
Subject: Integration  uavcan functionality and led driver

---
 src/modules/uavcannode/module.mk           |  7 +++++--
 src/modules/uavcannode/uavcannode_main.cpp | 30 ++++++++++++++++++++++++++++++
 2 files changed, 35 insertions(+), 2 deletions(-)

(limited to 'src/modules')

diff --git a/src/modules/uavcannode/module.mk b/src/modules/uavcannode/module.mk
index 263fc00a0..9d61d427b 100644
--- a/src/modules/uavcannode/module.mk
+++ b/src/modules/uavcannode/module.mk
@@ -44,8 +44,11 @@ MODULE_STACKSIZE = 920
 
 
 # Main
-SRCS += uavcannode_main.cpp              \
-        uavcannode_clock.cpp             \
+SRCS += uavcannode_main.cpp				\
+        uavcannode_clock.cpp      \
+        indication_controller.cpp \
+        sim_controller.cpp			  \
+        led.cpp										\
         uavcannode_params.c
 
 
diff --git a/src/modules/uavcannode/uavcannode_main.cpp b/src/modules/uavcannode/uavcannode_main.cpp
index abc2b0b21..a727cbbb9 100644
--- a/src/modules/uavcannode/uavcannode_main.cpp
+++ b/src/modules/uavcannode/uavcannode_main.cpp
@@ -49,6 +49,8 @@
 #include <drivers/drv_pwm_output.h>
 
 #include "uavcannode_main.hpp"
+#include "indication_controller.hpp"
+#include "sim_controller.hpp"
 
 /**
  * @file uavcan_main.cpp
@@ -219,6 +221,21 @@ int UavcanNode::init(uavcan::NodeID node_id)
 	return _node.start();
 }
 
+
+/*
+ * Restart handler
+ */
+class RestartRequestHandler: public uavcan::IRestartRequestHandler
+{
+        bool handleRestartRequest(uavcan::NodeID request_source) override
+        {
+              ::syslog(LOG_INFO,"UAVCAN: Restarting by request from %i\n", int(request_source.get()));
+              ::usleep(20*1000*1000);
+              systemreset(false);
+              return true; // Will never be executed BTW
+        }
+} restart_request_handler;
+
 void UavcanNode::node_spin_once()
 {
 	const int spin_res = _node.spin(uavcan::MonotonicTime());
@@ -247,6 +264,19 @@ int UavcanNode::add_poll_fd(int fd)
 
 int UavcanNode::run()
 {
+
+        get_node().setRestartRequestHandler(&restart_request_handler);
+
+        while (init_indication_controller(get_node()) < 0) {
+                ::syslog(LOG_INFO,"UAVCAN: Indication controller init failed\n");
+                ::sleep(1);
+        }
+
+        while (init_sim_controller(get_node()) < 0) {
+                ::syslog(LOG_INFO,"UAVCAN: sim controller init failed\n");
+                ::sleep(1);
+        }
+
 	(void)pthread_mutex_lock(&_node_mutex);
 
 	const unsigned PollTimeoutMs = 50;
-- 
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