NodeInitializer - performs network checks during intialization: NodeID collisions, incompatible data types

2026-10-19 03:03:34 +08:00 · 2014-03-28 00:15:19 +04:00
parent 49eb6fa463
commit 96aa295615
4 changed files with 405 additions and 0 deletions
@@ -0,0 +1,76 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#pragma once
+
+#include <bitset>
+#include <uavcan/util/method_binder.hpp>
+#include <uavcan/node/subscriber.hpp>
+#include <uavcan/node/service_client.hpp>
+#include <uavcan/protocol/ComputeAggregateTypeSignature.hpp>
+#include <uavcan/protocol/NodeStatus.hpp>
+
+namespace uavcan
+{
+
+struct NodeInitializationResult
+{
+    NodeID conflicting_node;
+    bool isOk() const { return !conflicting_node.isValid(); }
+};
+
+/**
+ * This class does not issue GlobalDiscoveryRequest, assuming that it was done already by the caller.
+ * Instantiated object can execute() only once. Objects of this class are intended for stack allocation.
+ */
+class NodeInitializer : Noncopyable
+{
+    typedef std::bitset<NodeID::Max + 1> NodeIDMask;
+    typedef MethodBinder<NodeInitializer*,
+                         void (NodeInitializer::*)(const ReceivedDataStructure<protocol::NodeStatus>&)>
+            NodeStatusCallback;
+    typedef MethodBinder<NodeInitializer*,
+                         void (NodeInitializer::*)(ServiceCallResult<protocol::ComputeAggregateTypeSignature>&)>
+            CATSResponseCallback;
+
+    Subscriber<protocol::NodeStatus, NodeStatusCallback> ns_sub_;
+    ServiceClient<protocol::ComputeAggregateTypeSignature, CATSResponseCallback> cats_cln_;
+    NodeIDMask nid_mask_present_;
+    NodeIDMask nid_mask_checked_;
+    NodeInitializationResult result_;
+    DataTypeKind checking_dtkind_;
+    bool last_cats_request_ok_;
+
+    INode& getNode() { return ns_sub_.getNode(); }
+    const INode& getNode() const { return ns_sub_.getNode(); }
+
+    MonotonicDuration getNetworkDiscoveryDelay() const;
+
+    NodeID findNextUncheckedNode();
+
+    int waitForCATSResponse();
+
+    void handleNodeStatus(const ReceivedDataStructure<protocol::NodeStatus>& msg);
+    void handleCATSResponse(ServiceCallResult<protocol::ComputeAggregateTypeSignature>& resp);
+
+    int checkOneNodeOneDataTypeKind(NodeID nid, DataTypeKind kind);
+    int checkOneNode(NodeID nid);
+    int checkNodes();
+
+public:
+    NodeInitializer(INode& node)
+        : ns_sub_(node)
+        , cats_cln_(node)
+        , checking_dtkind_(DataTypeKindService)
+        , last_cats_request_ok_(false)
+    { }
+
+    int execute();
+
+    const NodeInitializationResult& getResult() const { return result_; }
+
+    static int publishGlobalDiscoveryRequest(INode& node);
+};
+
+}