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Basic Raft test

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This commit is contained in:
Pavel Kirienko
2015-05-08 16:35:36 +03:00
parent 7d607a4dec
commit 1f7c0b40b3
2 changed files with 61 additions and 4 deletions
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libuavcan/src/protocol/uc_dynamic_node_id_allocation_server.cpp
+3 -3
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@@ -952,8 +952,6 @@ void RaftCore::updateCandidate()
trace(TraceError, res);
}
}
UAVCAN_ASSERT(res >= 0);
}
}
@@ -1374,7 +1372,7 @@ void RaftCore::handleRequestVoteResponse(const ServiceCallResult<RequestVote>& r
void RaftCore::handleTimerEvent(const TimerEvent&)
{
if (cluster_.hadDiscoveryActivity())
if (cluster_.hadDiscoveryActivity() && isLeader())
{
setActiveMode(true);
}
@@ -1448,6 +1446,7 @@ int RaftCore::init(uint8_t cluster_size)
{
return res;
}
append_entries_client_.setCallback(AppendEntriesResponseCallback(this, &RaftCore::handleAppendEntriesResponse));
append_entries_client_.setRequestTimeout(update_interval_);
for (uint8_t i = 0; i < NumRequestVoteClients; i++)
@@ -1457,6 +1456,7 @@ int RaftCore::init(uint8_t cluster_size)
{
return res;
}
request_vote_clients_[i]->setCallback(RequestVoteResponseCallback(this, &RaftCore::handleRequestVoteResponse));
request_vote_clients_[i]->setRequestTimeout(update_interval_);
}