NodeInfoRetriever::invalidateAll()

libuavcan/include/uavcan/protocol/node_info_retriever.hpp

@@ -365,6 +365,22 @@ public:
         return 0;
     }
 
+    /**
+     * This method forces the class to re-request uavcan.protocol.GetNodeInfo from all nodes as if they
+     * have just appeared in the network.
+     */
+    void invalidateAll()
+    {
+        NodeStatusMonitor::forgetAllNodes();
+        get_node_info_client_.cancelAllCalls();
+
+        for (unsigned i = 0; i < (sizeof(entries_) / sizeof(entries_[0])); i++)
+        {
+            entries_[i] = Entry();
+        }
+        // It is not necessary to reset the last picked node index
+    }
+
     /**
      * Adds one listener. Does nothing if such listener already exists.
      * May return -ErrMemory if there's no space to add the listener.

libuavcan/include/uavcan/protocol/node_status_monitor.hpp

@@ -195,6 +195,17 @@ public:
         }
     }
 
+    /**
+     * Make all nodes unknown.
+     */
+    void forgetAllNodes()
+    {
+        for (unsigned i = 0; i < (sizeof(entries_) / sizeof(entries_[0])); i++)
+        {
+            entries_[i] = Entry();
+        }
+    }
+
     /**
      * Returns status of a given node.
      * Unknown nodes are considered offline.

libuavcan/test/protocol/node_info_retriever.cpp

@@ -203,6 +203,26 @@ TEST(NodeInfoRetriever, Basic)
     EXPECT_EQ(13, listener.status_message_cnt);
     EXPECT_EQ(7, listener.status_change_cnt);        // node 2 online/offline + 2 test nodes above online/offline + 1
     EXPECT_EQ(3, listener.info_unavailable_cnt);
+
+    /*
+     * Forcing the class to forget everything
+     */
+    std::cout << "Invalidation" << std::endl;
+
+    retr.invalidateAll();
+
+    ASSERT_FALSE(retr.isRetrievingInProgress());
+    ASSERT_EQ(0, retr.getNumPendingRequests());
+
+    tid.increment();
+    publishNodeStatus(nodes.can_a, uavcan::NodeID(10), 0, 60, tid);
+    publishNodeStatus(nodes.can_a, uavcan::NodeID(11), 0, 60, tid);
+    publishNodeStatus(nodes.can_a, uavcan::NodeID(12), 0, 60, tid);
+
+    nodes.spinBoth(uavcan::MonotonicDuration::fromMSec(200));
+
+    ASSERT_TRUE(retr.isRetrievingInProgress());
+    ASSERT_EQ(3, retr.getNumPendingRequests());
 }