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NetworkCompatChecker can tolerate no-response from CATS service. This allows nodes to not implement services at all while being UAVCAN compatible.

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This commit is contained in:
Pavel Kirienko
2014-06-14 12:38:50 +04:00
parent ce023d14c8
commit 518e105809
3 changed files with 21 additions and 15 deletions
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libuavcan/src/protocol/uc_network_compat_checker.cpp
+6 -9
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@@ -132,21 +132,18 @@ int NetworkCompatibilityChecker::checkOneNode(NodeID nid)
int NetworkCompatibilityChecker::checkNodes()
{
(void)nid_mask_checked_.reset();
while (true)
num_failed_nodes_ = 0;
result_ = NetworkCompatibilityCheckResult();
while (result_.isOk())
{
const NodeID nid = findNextUncheckedNode();
if (nid.isValid())
{
UAVCAN_TRACE("NodeInitializer", "Checking nid=%i", int(nid.get()));
const int res = checkOneNode(nid);
if (res < 0 || !result_.isOk())
{
return res;
}
if (cats_cln_.getResponseFailureCount() > 0)
{
return -cats_cln_.getResponseFailureCount();
}
num_failed_nodes_ += (res < 0) ? 1U : 0U;
UAVCAN_TRACE("NodeInitializer", "Checked nid=%i result=%i", int(nid.get()), res);
}
else { break; }
}