Merge branch 'dynamic_node_id_raft' into global_rx_object_buffer

libuavcan/include/uavcan/node/node.hpp

@@ -13,10 +13,10 @@
 #include <uavcan/node/marshal_buffer.hpp>
 
 // High-level functionality available by default
-#include <uavcan/protocol/data_type_info_provider.hpp>
 #include <uavcan/protocol/node_status_provider.hpp>
 
 #if !UAVCAN_TINY
+# include <uavcan/protocol/data_type_info_provider.hpp>
 # include <uavcan/protocol/logger.hpp>
 # include <uavcan/protocol/restart_request_server.hpp>
 # include <uavcan/protocol/transport_stats_provider.hpp>
@@ -80,9 +80,9 @@ class UAVCAN_EXPORT Node : public INode
     OutgoingTransferRegistry<OutgoingTransferRegistryStaticEntries> outgoing_trans_reg_;
     Scheduler scheduler_;
 
-    DataTypeInfoProvider proto_dtp_;
     NodeStatusProvider proto_nsp_;
 #if !UAVCAN_TINY
+    DataTypeInfoProvider proto_dtp_;
     Logger proto_logger_;
     RestartRequestServer proto_rrs_;
     TransportStatsProvider proto_tsp_;
@@ -109,9 +109,9 @@ public:
     Node(ICanDriver& can_driver, ISystemClock& system_clock)
         : outgoing_trans_reg_(pool_allocator_)
         , scheduler_(can_driver, pool_allocator_, system_clock, outgoing_trans_reg_)
-        , proto_dtp_(*this)
         , proto_nsp_(*this)
 #if !UAVCAN_TINY
+        , proto_dtp_(*this)
         , proto_logger_(*this)
         , proto_rrs_(*this)
         , proto_tsp_(*this)
@@ -279,17 +279,17 @@ int Node<MemPoolSize_, OutgoingTransferRegistryStaticEntries, MarshalBufferSize>
     GlobalDataTypeRegistry::instance().freeze();
 
     int res = 0;
-    res = proto_dtp_.start();
-    if (res < 0)
-    {
-        goto fail;
-    }
     res = proto_nsp_.startAndPublish(priority);
     if (res < 0)
     {
         goto fail;
     }
 #if !UAVCAN_TINY
+    res = proto_dtp_.start();
+    if (res < 0)
+    {
+        goto fail;
+    }
     res = proto_logger_.init();
     if (res < 0)
     {

libuavcan/include/uavcan/transport/can_io.hpp

@@ -154,7 +154,6 @@ class UAVCAN_EXPORT CanIOManager : Noncopyable
 
     int sendToIface(uint8_t iface_index, const CanFrame& frame, MonotonicTime tx_deadline, CanIOFlags flags);
     int sendFromTxQueue(uint8_t iface_index);
-    uint8_t makePendingTxMask() const;
     int callSelect(CanSelectMasks& inout_masks, MonotonicTime blocking_deadline);
 
 public:
@@ -168,6 +167,8 @@ public:
     const ICanDriver& getCanDriver() const { return driver_; }
     ICanDriver& getCanDriver()             { return driver_; }
 
+    uint8_t makePendingTxMask() const;
+
     /**
      * Returns:
      *  0 - rejected/timedout/enqueued

libuavcan/src/transport/uc_can_io.cpp

@@ -261,19 +261,6 @@ int CanIOManager::sendFromTxQueue(uint8_t iface_index)
     return res;
 }
 
-uint8_t CanIOManager::makePendingTxMask() const
-{
-    uint8_t write_mask = 0;
-    for (uint8_t i = 0; i < getNumIfaces(); i++)
-    {
-        if (!tx_queues_[i]->isEmpty())
-        {
-            write_mask |= uint8_t(1 << i);
-        }
-    }
-    return write_mask;
-}
-
 int CanIOManager::callSelect(CanSelectMasks& inout_masks, MonotonicTime blocking_deadline)
 {
     const CanSelectMasks in_masks = inout_masks;
@@ -312,6 +299,19 @@ CanIOManager::CanIOManager(ICanDriver& driver, IPoolAllocator& allocator, ISyste
     }
 }
 
+uint8_t CanIOManager::makePendingTxMask() const
+{
+    uint8_t write_mask = 0;
+    for (uint8_t i = 0; i < getNumIfaces(); i++)
+    {
+        if (!tx_queues_[i]->isEmpty())
+        {
+            write_mask |= uint8_t(1 << i);
+        }
+    }
+    return write_mask;
+}
+
 CanIfacePerfCounters CanIOManager::getIfacePerfCounters(uint8_t iface_index) const
 {
     ICanIface* const iface = driver_.getIface(iface_index);