def __init__(self, node, lookup_paths=None):
if node.is_anonymous:
raise uavcan.UAVCANException('File server cannot be launched on an anonymous node')
self.lookup_paths = lookup_paths or []
self._path_hit_counters = defaultdict(int)
self._handles = []
def add_handler(datatype, callback):
self._handles.append(node.add_handler(datatype, callback))
add_handler(uavcan.protocol.file.GetInfo, self._get_info)
add_handler(uavcan.protocol.file.Read, self._read)
def _throw_if_anonymous(self):
if not self._node_id:
raise uavcan.UAVCANException(
'The local node is configured in anonymous mode')