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DSDL catchup

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This commit is contained in:
Pavel Kirienko
2015-07-05 09:27:22 +03:00
parent a25a9252a7
commit 27ec2419ff
10 changed files with 32 additions and 32 deletions
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libuavcan/include/uavcan/protocol/data_type_info_provider.hpp
+4 -4
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@@ -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
libuavcan/include/uavcan/protocol/dynamic_node_id_server/distributed/cluster_manager.hpp
+1 -1
View File
@@ -179,7 +179,7 @@ private:
{
if (!isRunning())
{
startPeriodic(MonotonicDuration::fromMSec(Discovery::BROADCASTING_INTERVAL_MS));
startPeriodic(MonotonicDuration::fromMSec(Discovery::BROADCASTING_PERIOD_MS));
}
}
libuavcan/include/uavcan/protocol/global_time_sync_master.hpp
+3 -3
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@@ -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;
libuavcan/include/uavcan/protocol/global_time_sync_slave.hpp
+3 -3
View File
@@ -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);
}
/**
libuavcan/include/uavcan/protocol/panic_broadcaster.hpp
+3 -3
View File
@@ -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));
}
/**