example: added reboot

dronecan · Nov 29, 2023 · 572aa7b · 572aa7b
1 parent 9615d12
commit 572aa7b
Showing 1 changed file with 18 additions and 0 deletions.
diff --git a/examples/ESCNode/esc_node.c b/examples/ESCNode/esc_node.c
@@ -290,6 +290,16 @@ static void handle_param_ExecuteOpcode(CanardInstance* ins, CanardRxTransfer* tr
                            total_size);
 }
 
+/*
+  handle RestartNode request
+ */
+static void handle_RestartNode(CanardInstance* ins, CanardRxTransfer* transfer)
+{
+    // the ESC should reboot now!
+    printf("Rebooting!!!\n");
+    exit(0);
+}
+
 /*
   handle a GetNodeInfo request
 */
@@ -482,6 +492,10 @@ static void onTransferReceived(CanardInstance *ins, CanardRxTransfer *transfer)
             handle_param_ExecuteOpcode(ins, transfer);
             break;
         }
+        case UAVCAN_PROTOCOL_RESTARTNODE_ID: {
+            handle_RestartNode(ins, transfer);
+            break;
+        }
         }
     }
     if (transfer->transfer_type == CanardTransferTypeBroadcast) {
@@ -530,6 +544,10 @@ static bool shouldAcceptTransfer(const CanardInstance *ins,
             *out_data_type_signature = UAVCAN_PROTOCOL_PARAM_EXECUTEOPCODE_SIGNATURE;
             return true;
         }
+        case UAVCAN_PROTOCOL_RESTARTNODE_ID: {
+            *out_data_type_signature = UAVCAN_PROTOCOL_RESTARTNODE_SIGNATURE;
+            return true;
+        }
         }
     }
     if (transfer_type == CanardTransferTypeBroadcast) {