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Improved logic of allocation request manager

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This commit is contained in:
Pavel Kirienko 2015-05-09 23:52:51 +03:00
parent 1a763a824c
commit 67b33a712e
2 changed files with 14 additions and 6 deletions
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5
dsdl/uavcan/protocol/dynamic_node_id/1010.Allocation.uavcan
View File

@ -39,6 +39,11 @@
#
uint16 DEFAULT_REQUEST_PERIOD_MS = 1000
#
# Server will reset its state if there was no follow-up request in this amount of time.
#
uint16 FOLLOWUP_TIMEOUT_MS = 500
#
# Any request message can accommodate no more than this number of bytes of unique ID.
# This limitation is needed to ensure that all request transfers are single-frame.

15
libuavcan/include/uavcan/protocol/dynamic_node_id_server/allocation_request_manager.hpp
View File

@ -133,7 +133,6 @@ class AllocationRequestManager
UAVCAN_TRACE("AllocationRequestManager", "Stage timeout, reset");
current_unique_id_.clear();
}
last_message_timestamp_ = msg.getMonotonicTimestamp();
/*
* Checking if request stage matches the expected stage
@ -141,26 +140,25 @@ class AllocationRequestManager
const uint8_t request_stage = detectRequestStage(msg);
if (request_stage == InvalidStage)
{
return; // No way
return; // Malformed request - ignore without resetting
}
const uint8_t expected_stage = getExpectedStage();
if (request_stage == InvalidStage)
{
current_unique_id_.clear();
return;
}
if (request_stage != expected_stage)
{
return; // Ignore - stage mismatch
return; // Ignore - stage mismatch
}
const uint8_t max_expected_bytes = static_cast<uint8_t>(current_unique_id_.capacity() - current_unique_id_.size());
UAVCAN_ASSERT(max_expected_bytes > 0);
if (msg.unique_id.size() > max_expected_bytes)
{
return; // Malformed request
return; // Malformed request
}
/*
@ -189,11 +187,16 @@ class AllocationRequestManager
{
broadcastIntermediateAllocationResponse();
}
/*
* It is super important to update timestamp only if the request has been processed successfully.
*/
last_message_timestamp_ = msg.getMonotonicTimestamp();
}
public:
AllocationRequestManager(INode& node, IAllocationRequestHandler& handler)
: stage_timeout_(MonotonicDuration::fromMSec(protocol::dynamic_node_id::Allocation::DEFAULT_REQUEST_PERIOD_MS))
: stage_timeout_(MonotonicDuration::fromMSec(Allocation::FOLLOWUP_TIMEOUT_MS))
, active_(false)
, handler_(handler)
, allocation_sub_(node)