From 7b7286b9caf6da88d59f6bef1b18cfdcc3817ec0 Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Sat, 10 Jan 2015 20:12:48 +0300
Subject: [PATCH] HardwareVersion extended with 255-byte COA field

---
 dsdl/uavcan/protocol/551.GetNodeInfo.uavcan       |  9 +++++----
 dsdl/uavcan/protocol/HardwareVersion.uavcan       |  3 +++
 .../test/dsdl_test/dsdl_uavcan_compilability.cpp  | 15 ++++++++-------
 3 files changed, 16 insertions(+), 11 deletions(-)

diff --git a/dsdl/uavcan/protocol/551.GetNodeInfo.uavcan b/dsdl/uavcan/protocol/551.GetNodeInfo.uavcan
index 01fd45e16b..9360d59561 100644
--- a/dsdl/uavcan/protocol/551.GetNodeInfo.uavcan
+++ b/dsdl/uavcan/protocol/551.GetNodeInfo.uavcan
@@ -1,16 +1,17 @@
 #
 # Full node info request.
+# Note that all fields of the response section are byte-aligned.
 #
 
 ---
 
-# Version information shall not be changed while the node is running.
-HardwareVersion hardware_version
-SoftwareVersion software_version
-
 # Current node status
 NodeStatus status
 
+# Version information shall not be changed while the node is running.
+SoftwareVersion software_version
+HardwareVersion hardware_version
+
 # Human readable non-empty ASCII node name.
 # Empty string is not a valid node name.
 # Node name shall not be changed while the node is running.
diff --git a/dsdl/uavcan/protocol/HardwareVersion.uavcan b/dsdl/uavcan/protocol/HardwareVersion.uavcan
index 0c3685855a..731c2e4460 100644
--- a/dsdl/uavcan/protocol/HardwareVersion.uavcan
+++ b/dsdl/uavcan/protocol/HardwareVersion.uavcan
@@ -10,3 +10,6 @@ uint8 minor
 # All zeros is not a valid UID.
 # If filled with zeros, assume that the value is undefined.
 uint8[16] unique_id
+
+# Certificate of authenticity (COA) of the hardware, 255 bytes max.
+uint8[<256] certificate_of_authenticity
diff --git a/libuavcan/test/dsdl_test/dsdl_uavcan_compilability.cpp b/libuavcan/test/dsdl_test/dsdl_uavcan_compilability.cpp
index 9e1b2cf804..d1671c4ef5 100644
--- a/libuavcan/test/dsdl_test/dsdl_uavcan_compilability.cpp
+++ b/libuavcan/test/dsdl_test/dsdl_uavcan_compilability.cpp
@@ -57,19 +57,20 @@ TEST(Dsdl, Streaming)
         "msgid: 0\n"
         "payload: \"Here\\x09goes\\x0Apayload\"\n"
         "==========\n"
-        "hardware_version: \n"
-        "  major: 0\n"
-        "  minor: 0\n"
-        "  unique_id: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]\n"
+        "status: \n"
+        "  uptime_sec: 0\n"
+        "  status_code: 0\n"
         "software_version: \n"
         "  major: 0\n"
         "  minor: 0\n"
         "  optional_field_mask: 0\n"
         "  vcs_commit: 0\n"
         "  image_crc: 0\n"
-        "status: \n"
-        "  uptime_sec: 0\n"
-        "  status_code: 0\n"
+        "hardware_version: \n"
+        "  major: 0\n"
+        "  minor: 0\n"
+        "  unique_id: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]\n"
+        "  certificate_of_authenticity: \"\"\n"
         "name: \"\"\n"
         "==========\n"
         "c: 0\n"