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42 lines
1.6 KiB
Plaintext
42 lines
1.6 KiB
Plaintext
uint64 timestamp # time since system start (microseconds)
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uint16 node_id # The node ID which this data comes from
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# From the uavcan.protocol.NodeStatus message
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uint32 uptime_sec # Node uptime
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#
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# Abstract node health.
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#
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uint8 HEALTH_OK = 0 # The node is functioning properly.
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uint8 HEALTH_WARNING = 1 # A critical parameter went out of range or the node encountered a minor failure.
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uint8 HEALTH_ERROR = 2 # The node encountered a major failure.
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uint8 HEALTH_CRITICAL = 3 # The node suffered a fatal malfunction.
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uint8 health
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#
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# Current mode.
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#
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# Mode OFFLINE can be actually reported by the node to explicitly inform other network
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# participants that the sending node is about to shutdown. In this case other nodes will not
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# have to wait OFFLINE_TIMEOUT_MS before they detect that the node is no longer available.
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#
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# Reserved values can be used in future revisions of the specification.
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#
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uint8 MODE_OPERATIONAL = 0 # Normal operating mode.
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uint8 MODE_INITIALIZATION = 1 # Initialization is in progress; this mode is entered immediately after startup.
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uint8 MODE_MAINTENANCE = 2 # E.g. calibration, the bootloader is running, etc.
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uint8 MODE_SOFTWARE_UPDATE = 3 # New software/firmware is being loaded.
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uint8 MODE_OFFLINE = 7 # The node is no longer available.
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uint8 mode
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#
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# Not used currently, keep zero when publishing, ignore when receiving.
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#
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uint8 sub_mode
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#
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# Optional, vendor-specific node status code, e.g. a fault code or a status bitmask.
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#
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uint16 vendor_specific_status_code
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