CAN/Cyphal Publish
The Cyphal class (cyphal/Cyphal.cpp and cyphal/CyphalBase.cpp) registers the following publishing features:
| service | cyphal/application/ | Type | Description |
|---|---|---|---|
uavcan.pnp.NodeIDAllocation |
NodeIDAllocation | Thread | Begins a PnP NodeID Client to request a Node ID |
uavcan.node.Heartbeat |
Heartbeat | Thread | Publishes a UAVCAN heartbeat message periodically |
uavcan.diagnostic.Record |
DiagnosticRecord | Backend for Log | Publishes diagnostic messages |
uavcan.time.Synchronization |
TimeSynchronization | Thread + Handle | Handles time synchronization messages |