From 898fe6722537481ceb6d50658355fd3de141b1f2 Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Thu, 30 Apr 2015 11:24:06 +0300
Subject: [PATCH] Fixed message definitions; added a compile-time check for
 maximum serialized message length

---
 dsdl/uavcan/mavlink/1780.Message.uavcan                     | 2 +-
 dsdl/uavcan/protocol/debug/1789.KeyValue.uavcan             | 5 +++--
 dsdl/uavcan/protocol/debug/1790.LogMessage.uavcan           | 2 +-
 .../libuavcan_dsdl_compiler/data_type_template.tmpl         | 6 +++++-
 4 files changed, 10 insertions(+), 5 deletions(-)

diff --git a/dsdl/uavcan/mavlink/1780.Message.uavcan b/dsdl/uavcan/mavlink/1780.Message.uavcan
index 110d1ca45e..ee56e0c7ef 100644
--- a/dsdl/uavcan/mavlink/1780.Message.uavcan
+++ b/dsdl/uavcan/mavlink/1780.Message.uavcan
@@ -7,4 +7,4 @@ uint8 sysid
 uint8 compid
 uint8 msgid
 
-uint8[<256] payload
+uint8[<=105] payload
diff --git a/dsdl/uavcan/protocol/debug/1789.KeyValue.uavcan b/dsdl/uavcan/protocol/debug/1789.KeyValue.uavcan
index cd4668e7f7..5566c0b83a 100644
--- a/dsdl/uavcan/protocol/debug/1789.KeyValue.uavcan
+++ b/dsdl/uavcan/protocol/debug/1789.KeyValue.uavcan
@@ -2,6 +2,7 @@
 # Generic named parameter (key/value pair).
 #
 
-uint8[<=92] key
+bool alignment
+uint8[<=100] key
 
-uavcan.protocol.param.Value value
+float64[<=1] value
diff --git a/dsdl/uavcan/protocol/debug/1790.LogMessage.uavcan b/dsdl/uavcan/protocol/debug/1790.LogMessage.uavcan
index b1f093d070..e430f2c286 100644
--- a/dsdl/uavcan/protocol/debug/1790.LogMessage.uavcan
+++ b/dsdl/uavcan/protocol/debug/1790.LogMessage.uavcan
@@ -4,4 +4,4 @@
 
 LogLevel level
 uint8[<32] source
-uint8[<128] text
+uint8[<94] text
diff --git a/libuavcan/dsdl_compiler/libuavcan_dsdl_compiler/data_type_template.tmpl b/libuavcan/dsdl_compiler/libuavcan_dsdl_compiler/data_type_template.tmpl
index 0c98cec956..8fd4d2f726 100644
--- a/libuavcan/dsdl_compiler/libuavcan_dsdl_compiler/data_type_template.tmpl
+++ b/libuavcan/dsdl_compiler/libuavcan_dsdl_compiler/data_type_template.tmpl
@@ -94,7 +94,11 @@ struct UAVCAN_EXPORT ${t.cpp_type_name}
     % endfor
     {
         enum { MaxByteLen = ::uavcan::BitLenToByteLen<MaxBitLen>::Result };
-        ::uavcan::StaticAssert<int(MaxByteLen) <= int(::uavcan::MaxPossibleTransferPayloadLen)>::check();
+    % if (t.kind == t.KIND_MESSAGE) and (t.has_default_dtid):
+        ::uavcan::StaticAssert<int(MaxByteLen) <= int(::uavcan::MaxMessageBroadcastTransferPayloadLen)>::check();
+    % else:
+        ::uavcan::StaticAssert<int(MaxByteLen) <= int(::uavcan::MaxServiceTransferPayloadLen)>::check();
+    % endif
 
         ::uavcan::StaticAssert<_tmpl == 0>::check();  // Usage check