Refactored uavcan.protocol.SoftwareVersion

dsdl/uavcan/protocol/SoftwareVersion.uavcan

@@ -3,6 +3,17 @@
 # Generic software version information.
 #
 
+# Primary version numbers for humans. Can be both set to zeros if not available.
 uint8 major
 uint8 minor
-uint32 build  # VCS revision hash, build date, etc
+
+# This mask indicates which optional fields are set.
+uint8 OPTIONAL_FIELD_MASK_VCS_COMMIT = 1
+uint8 OPTIONAL_FIELD_MASK_IMAGE_CRC  = 2
+uint8 optional_field_mask
+
+# VCS commit hash or revision number, e.g. git short commit hash. Useful for the developers. Optional.
+uint32 vcs_commit
+
+# CRC-64-WE of the firmware image. CRC function is the same as in the data type signature. Optional.
+uint64 image_crc

libuavcan/include/uavcan/build_config.hpp

@@ -6,7 +6,6 @@
 
 /**
  * UAVCAN version definition
- * // TODO: Use git short hash as build id
  */
 #define UAVCAN_VERSION_MAJOR    0
 #define UAVCAN_VERSION_MINOR    1

libuavcan/test/dsdl_test/dsdl_uavcan_compilability.cpp

@@ -62,7 +62,9 @@ TEST(Dsdl, Streaming)
         "software_version: \n"
         "  major: 0\n"
         "  minor: 0\n"
-        "  build: 0\n"
+        "  optional_field_mask: 0\n"
+        "  vcs_commit: 0\n"
+        "  image_crc: 0\n"
         "status: \n"
         "  uptime_sec: 0\n"
         "  status_code: 0\n"

libuavcan/test/node/node.cpp

@@ -30,7 +30,7 @@ TEST(Node, Basic)
     uavcan::protocol::SoftwareVersion swver;
     swver.major = 0;
     swver.minor = 1;
-    swver.build = 0xDEADBEEF;
+    swver.vcs_commit = 0xDEADBEEF;
 
     /*
      * uavcan::Node

libuavcan/test/protocol/network_compat_checker.cpp

@@ -33,7 +33,7 @@ struct NetworkCompatibilityCheckerRemoteContext
     {
         node_status_provider.setName("com.example");
         uavcan::protocol::SoftwareVersion swver;
-        swver.build = 1;
+        swver.vcs_commit = 1;
         node_status_provider.setSoftwareVersion(swver);
     }
 

libuavcan/test/protocol/node_status_provider.cpp

@@ -23,7 +23,7 @@ TEST(NodeStatusProvider, Basic)
     uavcan::protocol::SoftwareVersion swver;
     swver.major = 2;
     swver.minor = 18;
-    swver.build = 0x600DF00D;
+    swver.vcs_commit = 0x600DF00D;
 
     nsp.setHardwareVersion(hwver);
     nsp.setSoftwareVersion(swver);