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Fixed implementation of the ESC auto-enumeration feature

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This commit is contained in:
Pavel Kirienko
2016-08-06 16:30:24 +03:00
committed by Lorenz Meier
parent 2fad9a6397
commit 61ffc6c432
1 changed files with 7 additions and 1 deletions
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src/modules/uavcan/uavcan_servers.cpp
+7 -1
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@@ -506,6 +506,8 @@ pthread_addr_t UavcanServers::run(pthread_addr_t)
_esc_count = 0;
beep(_esc_enumeration_active ? 500.0F : 1000.0F, 0.5F);
uavcan::protocol::enumeration::Begin::Request req;
// TODO: Incorrect implementation; the parameter name field should be left empty.
// Leaving it as-is to avoid breaking compatibility with non-compliant nodes.
req.parameter_name = "esc_index";
req.timeout_sec = _esc_enumeration_active ? 65535 : 0;
call_res = _enumeration_client.call(get_next_active_node_id(1), req);
@@ -776,6 +778,8 @@ void UavcanServers::cb_enumeration_begin(const uavcan::ServiceCallResult<uavcan:
if (next_id < 128) {
// Still other active nodes to send the request to
uavcan::protocol::enumeration::Begin::Request req;
// TODO: Incorrect implementation; the parameter name field should be left empty.
// Leaving it as-is to avoid breaking compatibility with non-compliant nodes.
req.parameter_name = "esc_index";
req.timeout_sec = _esc_enumeration_active ? 65535 : 0;
@@ -811,7 +815,7 @@ void UavcanServers::cb_enumeration_indication(const uavcan::ReceivedDataStructur
}
uavcan::protocol::param::GetSet::Request req;
req.name = "esc_index";
req.name = msg.parameter_name; // 'esc_index' or something alike, the name is not standardized
req.value.to<uavcan::protocol::param::Value::Tag::integer_value>() = i;
int call_res = _enumeration_getset_client.call(msg.getSrcNodeID(), req);
@@ -868,6 +872,8 @@ void UavcanServers::cb_enumeration_save(const uavcan::ServiceCallResult<uavcan::
// Tell all ESCs to stop enumerating
uavcan::protocol::enumeration::Begin::Request req;
// TODO: Incorrect implementation; the parameter name field should be left empty.
// Leaving it as-is to avoid breaking compatibility with non-compliant nodes.
req.parameter_name = "esc_index";
req.timeout_sec = 0;
int call_res = _enumeration_client.call(get_next_active_node_id(1), req);