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Changed API of DynamicNodeIDClient: start() accepts UniqueID instead of HardwareVersion

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This commit is contained in:
Pavel Kirienko
2015-09-25 00:02:58 +03:00
parent 50dc08663a
commit 0f53a76b50
7 changed files with 37 additions and 35 deletions
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libuavcan/include/uavcan/protocol/dynamic_node_id_client.hpp
+4 -2
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@@ -63,6 +63,8 @@ class UAVCAN_EXPORT DynamicNodeIDClient : private TimerBase
void handleAllocation(const ReceivedDataStructure<protocol::dynamic_node_id::Allocation>& msg);
public:
typedef protocol::HardwareVersion::FieldTypes::unique_id UniqueID;
DynamicNodeIDClient(INode& node)
: TimerBase(node)
, dnida_pub_(node)
@@ -71,7 +73,7 @@ public:
{ }
/**
* @param hardware_version Hardware version information, where unique_id must be set correctly.
* @param unique_id Unique ID of the local node. Must be the same as in the hardware version struct.
* @param preferred_node_id Node ID that the application would like to take; set to broadcast (zero) if
* the application doesn't have any preference (this is default).
* @param transfer_priority Transfer priority, Normal by default.
@@ -79,7 +81,7 @@ public:
* Negative error code on failure
* -ErrLogic if 1. the node is not in passive mode or 2. the client is already started
*/
int start(const protocol::HardwareVersion& hardware_version,
int start(const UniqueID& unique_id,
const NodeID preferred_node_id = NodeID::Broadcast,
const TransferPriority transfer_priority = TransferPriority::OneHigherThanLowest);
libuavcan/src/protocol/uc_dynamic_node_id_client.cpp
+2 -2
View File
@@ -144,7 +144,7 @@ void DynamicNodeIDClient::handleAllocation(const ReceivedDataStructure<protocol:
}
}
int DynamicNodeIDClient::start(const protocol::HardwareVersion& hardware_version,
int DynamicNodeIDClient::start(const UniqueID& unique_id,
const NodeID preferred_node_id,
const TransferPriority transfer_priority)
{
@@ -157,7 +157,7 @@ int DynamicNodeIDClient::start(const protocol::HardwareVersion& hardware_version
}
// Unique ID initialization & validation
copy(hardware_version.unique_id.begin(), hardware_version.unique_id.end(), unique_id_);
copy(unique_id.begin(), unique_id.end(), unique_id_);
bool unique_id_is_zero = true;
for (uint8_t i = 0; i < sizeof(unique_id_); i++)
{
libuavcan/test/protocol/dynamic_node_id_client.cpp
+16 -16
View File
@@ -21,19 +21,19 @@ TEST(DynamicNodeIDClient, Basic)
/*
* Client initialization
*/
uavcan::protocol::HardwareVersion hwver;
uavcan::protocol::HardwareVersion::FieldTypes::unique_id unique_id;
ASSERT_LE(-uavcan::ErrInvalidParam, dnidac.start(hwver)); // Empty hardware version is not allowed
ASSERT_LE(-uavcan::ErrInvalidParam, dnidac.start(unique_id)); // Empty hardware version is not allowed
for (uavcan::uint8_t i = 0; i < hwver.unique_id.size(); i++)
for (uavcan::uint8_t i = 0; i < unique_id.size(); i++)
{
hwver.unique_id[i] = i;
unique_id[i] = i;
}
ASSERT_LE(-uavcan::ErrInvalidParam, dnidac.start(hwver, uavcan::NodeID()));
ASSERT_LE(-uavcan::ErrInvalidParam, dnidac.start(unique_id, uavcan::NodeID()));
const uavcan::NodeID PreferredNodeID = 42;
ASSERT_LE(0, dnidac.start(hwver, PreferredNodeID));
ASSERT_LE(0, dnidac.start(unique_id, PreferredNodeID));
ASSERT_FALSE(dnidac.getAllocatedNodeID().isValid());
ASSERT_FALSE(dnidac.getAllocatorNodeID().isValid());
@@ -56,7 +56,7 @@ TEST(DynamicNodeIDClient, Basic)
ASSERT_TRUE(dynid_sub.collector.msg->first_part_of_unique_id);
ASSERT_TRUE(uavcan::equal(dynid_sub.collector.msg->unique_id.begin(),
dynid_sub.collector.msg->unique_id.end(),
hwver.unique_id.begin()));
unique_id.begin()));
dynid_sub.collector.msg.reset();
// Second - rate is no lower than 0.5 Hz
@@ -92,7 +92,7 @@ TEST(DynamicNodeIDClient, Basic)
{
uavcan::protocol::dynamic_node_id::Allocation msg;
msg.unique_id.resize(BytesPerRequest);
uavcan::copy(hwver.unique_id.begin(), hwver.unique_id.begin() + BytesPerRequest, msg.unique_id.begin());
uavcan::copy(unique_id.begin(), unique_id.begin() + BytesPerRequest, msg.unique_id.begin());
std::cout << "First-stage offer:\n" << msg << std::endl;
@@ -106,7 +106,7 @@ TEST(DynamicNodeIDClient, Basic)
ASSERT_FALSE(dynid_sub.collector.msg->first_part_of_unique_id);
ASSERT_TRUE(uavcan::equal(dynid_sub.collector.msg->unique_id.begin(),
dynid_sub.collector.msg->unique_id.end(),
hwver.unique_id.begin() + BytesPerRequest));
unique_id.begin() + BytesPerRequest));
dynid_sub.collector.msg.reset();
}
@@ -116,7 +116,7 @@ TEST(DynamicNodeIDClient, Basic)
{
uavcan::protocol::dynamic_node_id::Allocation msg;
msg.unique_id.resize(BytesPerRequest * 2);
uavcan::copy(hwver.unique_id.begin(), hwver.unique_id.begin() + BytesPerRequest * 2, msg.unique_id.begin());
uavcan::copy(unique_id.begin(), unique_id.begin() + BytesPerRequest * 2, msg.unique_id.begin());
std::cout << "Second-stage offer:\n" << msg << std::endl;
@@ -130,7 +130,7 @@ TEST(DynamicNodeIDClient, Basic)
ASSERT_FALSE(dynid_sub.collector.msg->first_part_of_unique_id);
ASSERT_TRUE(uavcan::equal(dynid_sub.collector.msg->unique_id.begin(),
dynid_sub.collector.msg->unique_id.end(),
hwver.unique_id.begin() + BytesPerRequest * 2));
unique_id.begin() + BytesPerRequest * 2));
dynid_sub.collector.msg.reset();
}
@@ -145,7 +145,7 @@ TEST(DynamicNodeIDClient, Basic)
uavcan::protocol::dynamic_node_id::Allocation msg;
msg.unique_id.resize(16);
msg.node_id = 72;
uavcan::copy(hwver.unique_id.begin(), hwver.unique_id.end(), msg.unique_id.begin());
uavcan::copy(unique_id.begin(), unique_id.end(), msg.unique_id.begin());
ASSERT_FALSE(dynid_sub.collector.msg.get());
ASSERT_LE(0, dynid_pub.broadcast(msg));
@@ -169,11 +169,11 @@ TEST(DynamicNodeIDClient, NonPassiveMode)
uavcan::DefaultDataTypeRegistrator<uavcan::protocol::dynamic_node_id::Allocation> _reg1;
(void)_reg1;
uavcan::protocol::HardwareVersion hwver;
for (uavcan::uint8_t i = 0; i < hwver.unique_id.size(); i++)
uavcan::protocol::HardwareVersion::FieldTypes::unique_id unique_id;
for (uavcan::uint8_t i = 0; i < unique_id.size(); i++)
{
hwver.unique_id[i] = i;
unique_id[i] = i;
}
ASSERT_LE(-uavcan::ErrLogic, dnidac.start(hwver));
ASSERT_LE(-uavcan::ErrLogic, dnidac.start(unique_id));
}
libuavcan/test/protocol/dynamic_node_id_server/allocation_request_manager.cpp
+6 -6
View File
@@ -78,13 +78,13 @@ TEST(dynamic_node_id_server_AllocationRequestManager, Basic)
/*
* Client initialization
*/
uavcan::protocol::HardwareVersion hwver;
for (uavcan::uint8_t i = 0; i < hwver.unique_id.size(); i++)
uavcan::protocol::HardwareVersion::FieldTypes::unique_id unique_id;
for (uavcan::uint8_t i = 0; i < unique_id.size(); i++)
{
hwver.unique_id[i] = i;
unique_id[i] = i;
}
const uavcan::NodeID PreferredNodeID = 42;
ASSERT_LE(0, client.start(hwver, PreferredNodeID));
ASSERT_LE(0, client.start(unique_id, PreferredNodeID));
/*
* Request manager initialization
@@ -102,9 +102,9 @@ TEST(dynamic_node_id_server_AllocationRequestManager, Basic)
*/
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(2000));
ASSERT_TRUE(handler.matchAndPopLastRequest(hwver.unique_id, PreferredNodeID));
ASSERT_TRUE(handler.matchAndPopLastRequest(unique_id, PreferredNodeID));
ASSERT_LE(0, manager.broadcastAllocationResponse(hwver.unique_id, PreferredNodeID));
ASSERT_LE(0, manager.broadcastAllocationResponse(unique_id, PreferredNodeID));
nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(100));
libuavcan/test/protocol/dynamic_node_id_server/centralized/server.cpp
+4 -4
View File
@@ -49,13 +49,13 @@ TEST(dynamic_node_id_server_centralized_Server, Basic)
* Client
*/
uavcan::DynamicNodeIDClient client(nodes.b);
uavcan::protocol::HardwareVersion hwver;
for (uavcan::uint8_t i = 0; i < hwver.unique_id.size(); i++)
uavcan::protocol::HardwareVersion::FieldTypes::unique_id unique_id;
for (uavcan::uint8_t i = 0; i < unique_id.size(); i++)
{
hwver.unique_id[i] = i;
unique_id[i] = i;
}
const uavcan::NodeID PreferredNodeID = 42;
ASSERT_LE(0, client.start(hwver, PreferredNodeID));
ASSERT_LE(0, client.start(unique_id, PreferredNodeID));
/*
* Fire
libuavcan/test/protocol/dynamic_node_id_server/distributed/server.cpp
+4 -4
View File
@@ -154,13 +154,13 @@ TEST(dynamic_node_id_server_Server, Basic)
* Client
*/
uavcan::DynamicNodeIDClient client(nodes.b);
uavcan::protocol::HardwareVersion hwver;
for (uavcan::uint8_t i = 0; i < hwver.unique_id.size(); i++)
uavcan::protocol::HardwareVersion::FieldTypes::unique_id unique_id;
for (uavcan::uint8_t i = 0; i < unique_id.size(); i++)
{
hwver.unique_id[i] = i;
unique_id[i] = i;
}
const uavcan::NodeID PreferredNodeID = 42;
ASSERT_LE(0, client.start(hwver, PreferredNodeID));
ASSERT_LE(0, client.start(unique_id, PreferredNodeID));
/*
* Fire
libuavcan_drivers/linux/apps/test_dynamic_node_id_client.cpp
+1 -1
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@@ -44,7 +44,7 @@ uavcan_linux::NodePtr initNodeWithDynamicID(const std::vector<std::string>& ifac
*/
uavcan::DynamicNodeIDClient client(*node);
ENFORCE(0 <= client.start(node->getNodeStatusProvider().getHardwareVersion(), preferred_node_id));
ENFORCE(0 <= client.start(node->getNodeStatusProvider().getHardwareVersion().unique_id, preferred_node_id));
std::cout << "Waiting for dynamic node ID allocation..." << std::endl;