From 27ec2419ff75129734be01487303a4a8dcf1407a Mon Sep 17 00:00:00 2001 From: Pavel Kirienko Date: Sun, 5 Jul 2015 09:17:44 +0300 Subject: [PATCH] DSDL catchup --- dsdl | 2 +- .../protocol/data_type_info_provider.hpp | 8 ++++---- .../distributed/cluster_manager.hpp | 2 +- .../protocol/global_time_sync_master.hpp | 6 +++--- .../protocol/global_time_sync_slave.hpp | 6 +++--- .../uavcan/protocol/panic_broadcaster.hpp | 6 +++--- .../src/protocol/uc_node_status_provider.cpp | 6 +++--- .../dsdl_test/dsdl_uavcan_compilability.cpp | 2 +- .../test/protocol/data_type_info_provider.cpp | 20 +++++++++---------- .../test/protocol/node_status_provider.cpp | 6 +++--- 10 files changed, 32 insertions(+), 32 deletions(-) diff --git a/dsdl b/dsdl index cf1cdf6f0d..325d51e2b1 160000 --- a/dsdl +++ b/dsdl @@ -1 +1 @@ -Subproject commit cf1cdf6f0dee766312d28e5b7918b12004c3c466 +Subproject commit 325d51e2b149bef0d324840f8a7f29954c4d3e95 diff --git a/libuavcan/include/uavcan/protocol/data_type_info_provider.hpp b/libuavcan/include/uavcan/protocol/data_type_info_provider.hpp index 3508450891..8a3104aa91 100644 --- a/libuavcan/include/uavcan/protocol/data_type_info_provider.hpp +++ b/libuavcan/include/uavcan/protocol/data_type_info_provider.hpp @@ -78,7 +78,7 @@ class UAVCAN_EXPORT DataTypeInfoProvider : Noncopyable response.signature = desc->getSignature().get(); response.id = desc->getID().get(); response.kind.value = desc->getKind(); - response.mask = protocol::GetDataTypeInfo::Response::MASK_KNOWN; + response.flags = protocol::GetDataTypeInfo::Response::FLAG_KNOWN; response.name = desc->getFullName(); const Dispatcher& dispatcher = getNode().getDispatcher(); @@ -87,18 +87,18 @@ class UAVCAN_EXPORT DataTypeInfoProvider : Noncopyable { if (dispatcher.hasServer(desc->getID().get())) { - response.mask |= protocol::GetDataTypeInfo::Response::MASK_SERVING; + response.flags |= protocol::GetDataTypeInfo::Response::FLAG_SERVING; } } else if (desc->getKind() == DataTypeKindMessage) { if (dispatcher.hasSubscriber(desc->getID().get())) { - response.mask |= protocol::GetDataTypeInfo::Response::MASK_SUBSCRIBED; + response.flags |= protocol::GetDataTypeInfo::Response::FLAG_SUBSCRIBED; } if (dispatcher.hasPublisher(desc->getID().get())) { - response.mask |= protocol::GetDataTypeInfo::Response::MASK_PUBLISHING; + response.flags |= protocol::GetDataTypeInfo::Response::FLAG_PUBLISHING; } } else diff --git a/libuavcan/include/uavcan/protocol/dynamic_node_id_server/distributed/cluster_manager.hpp b/libuavcan/include/uavcan/protocol/dynamic_node_id_server/distributed/cluster_manager.hpp index e3e95dcec3..db3ee1ff33 100644 --- a/libuavcan/include/uavcan/protocol/dynamic_node_id_server/distributed/cluster_manager.hpp +++ b/libuavcan/include/uavcan/protocol/dynamic_node_id_server/distributed/cluster_manager.hpp @@ -179,7 +179,7 @@ private: { if (!isRunning()) { - startPeriodic(MonotonicDuration::fromMSec(Discovery::BROADCASTING_INTERVAL_MS)); + startPeriodic(MonotonicDuration::fromMSec(Discovery::BROADCASTING_PERIOD_MS)); } } diff --git a/libuavcan/include/uavcan/protocol/global_time_sync_master.hpp b/libuavcan/include/uavcan/protocol/global_time_sync_master.hpp index 164bb25369..e3a3a69849 100644 --- a/libuavcan/include/uavcan/protocol/global_time_sync_master.hpp +++ b/libuavcan/include/uavcan/protocol/global_time_sync_master.hpp @@ -83,7 +83,7 @@ class UAVCAN_EXPORT GlobalTimeSyncMaster : protected LoopbackFrameListenerBase const MonotonicDuration since_prev_pub = current_time - iface_prev_pub_mono_; iface_prev_pub_mono_ = current_time; UAVCAN_ASSERT(since_prev_pub.isPositive()); - const bool long_period = since_prev_pub.toMSec() >= protocol::GlobalTimeSync::MAX_PUBLICATION_PERIOD_MS; + const bool long_period = since_prev_pub.toMSec() >= protocol::GlobalTimeSync::MAX_BROADCASTING_PERIOD_MS; protocol::GlobalTimeSync msg; msg.previous_transmission_timestamp_usec = long_period ? 0 : prev_tx_utc_.toUSec(); @@ -124,7 +124,7 @@ class UAVCAN_EXPORT GlobalTimeSyncMaster : protected LoopbackFrameListenerBase int getNextTransferID(TransferID& tid) { const MonotonicDuration max_transfer_interval = - MonotonicDuration::fromMSec(protocol::GlobalTimeSync::MAX_PUBLICATION_PERIOD_MS); + MonotonicDuration::fromMSec(protocol::GlobalTimeSync::MAX_BROADCASTING_PERIOD_MS); const OutgoingTransferRegistryKey otr_key(dtid_, TransferTypeMessageBroadcast, NodeID::Broadcast); const MonotonicTime otr_deadline = node_.getMonotonicTime() + max_transfer_interval; @@ -226,7 +226,7 @@ public: { const MonotonicDuration since_prev_pub = current_time - prev_pub_mono_; UAVCAN_ASSERT(since_prev_pub.isPositive()); - if (since_prev_pub.toMSec() < protocol::GlobalTimeSync::MIN_PUBLICATION_PERIOD_MS) + if (since_prev_pub.toMSec() < protocol::GlobalTimeSync::MIN_BROADCASTING_PERIOD_MS) { UAVCAN_TRACE("GlobalTimeSyncMaster", "Publication skipped"); return 0; diff --git a/libuavcan/include/uavcan/protocol/global_time_sync_slave.hpp b/libuavcan/include/uavcan/protocol/global_time_sync_slave.hpp index c2f5dbfabd..2d9336ffb5 100644 --- a/libuavcan/include/uavcan/protocol/global_time_sync_slave.hpp +++ b/libuavcan/include/uavcan/protocol/global_time_sync_slave.hpp @@ -83,7 +83,7 @@ class UAVCAN_EXPORT GlobalTimeSyncSlave : Noncopyable const bool needs_init = !master_nid_.isValid() || prev_ts_mono_.isZero(); const bool switch_master = msg.getSrcNodeID() < master_nid_; // TODO: Make configurable - const bool pub_timeout = since_prev_msg.toMSec() > protocol::GlobalTimeSync::RECOMMENDED_PUBLISHER_TIMEOUT_MS; + const bool pub_timeout = since_prev_msg.toMSec() > protocol::GlobalTimeSync::RECOMMENDED_BROADCASTER_TIMEOUT_MS; if (switch_master || pub_timeout || needs_init) { @@ -97,7 +97,7 @@ class UAVCAN_EXPORT GlobalTimeSyncSlave : Noncopyable { const bool msg_invalid = msg.previous_transmission_timestamp_usec == 0; const bool wrong_tid = prev_tid_.computeForwardDistance(msg.getTransferID()) != 1; - const bool wrong_timing = since_prev_msg.toMSec() > protocol::GlobalTimeSync::MAX_PUBLICATION_PERIOD_MS; + const bool wrong_timing = since_prev_msg.toMSec() > protocol::GlobalTimeSync::MAX_BROADCASTING_PERIOD_MS; if (msg_invalid || wrong_tid || wrong_timing) { UAVCAN_TRACE("GlobalTimeSyncSlave", @@ -179,7 +179,7 @@ public: { const MonotonicDuration since_prev_adj = getSystemClock().getMonotonic() - last_adjustment_ts_; return !last_adjustment_ts_.isZero() && - (since_prev_adj.toMSec() <= protocol::GlobalTimeSync::RECOMMENDED_PUBLISHER_TIMEOUT_MS); + (since_prev_adj.toMSec() <= protocol::GlobalTimeSync::RECOMMENDED_BROADCASTER_TIMEOUT_MS); } /** diff --git a/libuavcan/include/uavcan/protocol/panic_broadcaster.hpp b/libuavcan/include/uavcan/protocol/panic_broadcaster.hpp index 2a15b5d1d6..0eff9bfc87 100644 --- a/libuavcan/include/uavcan/protocol/panic_broadcaster.hpp +++ b/libuavcan/include/uavcan/protocol/panic_broadcaster.hpp @@ -39,11 +39,11 @@ public: : TimerBase(node) , pub_(node) { - pub_.setTxTimeout(MonotonicDuration::fromMSec(protocol::Panic::BROADCASTING_INTERVAL_MS - 10)); + pub_.setTxTimeout(MonotonicDuration::fromMSec(protocol::Panic::BROADCASTING_PERIOD_MS - 10)); } /** - * Begin broadcasting at the standard interval (see BROADCASTING_INTERVAL_MS). + * Begin broadcasting at the standard interval (see BROADCASTING_PERIOD_MS). * This method does not block and can't fail. * @param short_reason Short ASCII string that describes the reason of the panic, 7 characters max. * If the string exceeds 7 characters, it will be truncated. @@ -65,7 +65,7 @@ public: UAVCAN_TRACE("PanicBroadcaster", "Panicking with reason '%s'", getReason().c_str()); publishOnce(); - startPeriodic(MonotonicDuration::fromMSec(protocol::Panic::BROADCASTING_INTERVAL_MS)); + startPeriodic(MonotonicDuration::fromMSec(protocol::Panic::BROADCASTING_PERIOD_MS)); } /** diff --git a/libuavcan/src/protocol/uc_node_status_provider.cpp b/libuavcan/src/protocol/uc_node_status_provider.cpp index 380bd05990..e4f36bc470 100644 --- a/libuavcan/src/protocol/uc_node_status_provider.cpp +++ b/libuavcan/src/protocol/uc_node_status_provider.cpp @@ -77,7 +77,7 @@ int NodeStatusProvider::startAndPublish(TransferPriority priority) goto fail; } - setStatusPublicationPeriod(MonotonicDuration::fromMSec(protocol::NodeStatus::MAX_PUBLICATION_PERIOD_MS)); + setStatusPublicationPeriod(MonotonicDuration::fromMSec(protocol::NodeStatus::MAX_BROADCASTING_PERIOD_MS)); return res; @@ -90,8 +90,8 @@ fail: void NodeStatusProvider::setStatusPublicationPeriod(uavcan::MonotonicDuration period) { - const MonotonicDuration maximum = MonotonicDuration::fromMSec(protocol::NodeStatus::MAX_PUBLICATION_PERIOD_MS); - const MonotonicDuration minimum = MonotonicDuration::fromMSec(protocol::NodeStatus::MIN_PUBLICATION_PERIOD_MS); + const MonotonicDuration maximum = MonotonicDuration::fromMSec(protocol::NodeStatus::MAX_BROADCASTING_PERIOD_MS); + const MonotonicDuration minimum = MonotonicDuration::fromMSec(protocol::NodeStatus::MIN_BROADCASTING_PERIOD_MS); period = min(period, maximum); period = max(period, minimum); diff --git a/libuavcan/test/dsdl_test/dsdl_uavcan_compilability.cpp b/libuavcan/test/dsdl_test/dsdl_uavcan_compilability.cpp index 3583f15465..df60884722 100644 --- a/libuavcan/test/dsdl_test/dsdl_uavcan_compilability.cpp +++ b/libuavcan/test/dsdl_test/dsdl_uavcan_compilability.cpp @@ -40,7 +40,7 @@ TEST(Dsdl, Streaming) "software_version: \n" " major: 0\n" " minor: 0\n" - " optional_field_mask: 0\n" + " optional_field_flags: 0\n" " vcs_commit: 0\n" " image_crc: 0\n" "hardware_version: \n" diff --git a/libuavcan/test/protocol/data_type_info_provider.cpp b/libuavcan/test/protocol/data_type_info_provider.cpp index bbf8c84d12..1728754e75 100644 --- a/libuavcan/test/protocol/data_type_info_provider.cpp +++ b/libuavcan/test/protocol/data_type_info_provider.cpp @@ -19,7 +19,7 @@ using uavcan::MonotonicDuration; template static bool validateDataTypeInfoResponse(const std::auto_ptr::Result>& resp, - unsigned mask) + unsigned flags) { if (!resp.get()) { @@ -43,7 +43,7 @@ static bool validateDataTypeInfoResponse(const std::auto_ptrgetResponse().mask != mask) + if (resp->getResponse().flags != flags) { std::cout << "Mask mismatch" << std::endl; return false; @@ -90,8 +90,8 @@ TEST(DataTypeInfoProvider, Basic) nodes.spinBoth(MonotonicDuration::fromMSec(10)); ASSERT_TRUE(validateDataTypeInfoResponse(gdti_cln.collector.result, - GetDataTypeInfo::Response::MASK_KNOWN | - GetDataTypeInfo::Response::MASK_SERVING)); + GetDataTypeInfo::Response::FLAG_KNOWN | + GetDataTypeInfo::Response::FLAG_SERVING)); ASSERT_EQ(1, gdti_cln.collector.result->getCallID().server_node_id.get()); /* @@ -105,8 +105,8 @@ TEST(DataTypeInfoProvider, Basic) nodes.spinBoth(MonotonicDuration::fromMSec(10)); ASSERT_TRUE(validateDataTypeInfoResponse(gdti_cln.collector.result, - GetDataTypeInfo::Response::MASK_KNOWN | - GetDataTypeInfo::Response::MASK_SERVING)); + GetDataTypeInfo::Response::FLAG_KNOWN | + GetDataTypeInfo::Response::FLAG_SERVING)); ASSERT_EQ(1, gdti_cln.collector.result->getCallID().server_node_id.get()); /* @@ -119,7 +119,7 @@ TEST(DataTypeInfoProvider, Basic) nodes.spinBoth(MonotonicDuration::fromMSec(10)); ASSERT_TRUE(validateDataTypeInfoResponse(gdti_cln.collector.result, - GetDataTypeInfo::Response::MASK_KNOWN)); + GetDataTypeInfo::Response::FLAG_KNOWN)); /* * Starting publisher and subscriber for NodeStatus, requesting info again @@ -135,9 +135,9 @@ TEST(DataTypeInfoProvider, Basic) nodes.spinBoth(MonotonicDuration::fromMSec(10)); ASSERT_TRUE(validateDataTypeInfoResponse(gdti_cln.collector.result, - GetDataTypeInfo::Response::MASK_KNOWN | - GetDataTypeInfo::Response::MASK_PUBLISHING | - GetDataTypeInfo::Response::MASK_SUBSCRIBED)); + GetDataTypeInfo::Response::FLAG_KNOWN | + GetDataTypeInfo::Response::FLAG_PUBLISHING | + GetDataTypeInfo::Response::FLAG_SUBSCRIBED)); /* * Requesting a non-existent type diff --git a/libuavcan/test/protocol/node_status_provider.cpp b/libuavcan/test/protocol/node_status_provider.cpp index 17da36442a..19030698a7 100644 --- a/libuavcan/test/protocol/node_status_provider.cpp +++ b/libuavcan/test/protocol/node_status_provider.cpp @@ -46,15 +46,15 @@ TEST(NodeStatusProvider, Basic) ASSERT_LE(0, nsp.startAndPublish()); // Checking the publishing rate settings - ASSERT_EQ(uavcan::MonotonicDuration::fromMSec(uavcan::protocol::NodeStatus::MAX_PUBLICATION_PERIOD_MS), + ASSERT_EQ(uavcan::MonotonicDuration::fromMSec(uavcan::protocol::NodeStatus::MAX_BROADCASTING_PERIOD_MS), nsp.getStatusPublicationPeriod()); nsp.setStatusPublicationPeriod(uavcan::MonotonicDuration()); - ASSERT_EQ(uavcan::MonotonicDuration::fromMSec(uavcan::protocol::NodeStatus::MIN_PUBLICATION_PERIOD_MS), + ASSERT_EQ(uavcan::MonotonicDuration::fromMSec(uavcan::protocol::NodeStatus::MIN_BROADCASTING_PERIOD_MS), nsp.getStatusPublicationPeriod()); nsp.setStatusPublicationPeriod(uavcan::MonotonicDuration::fromMSec(3600 * 1000 * 24)); - ASSERT_EQ(uavcan::MonotonicDuration::fromMSec(uavcan::protocol::NodeStatus::MAX_PUBLICATION_PERIOD_MS), + ASSERT_EQ(uavcan::MonotonicDuration::fromMSec(uavcan::protocol::NodeStatus::MAX_BROADCASTING_PERIOD_MS), nsp.getStatusPublicationPeriod()); /*