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NodeIDSelector: allocating only in the range [1, 125], unless the node explicitly requested higher node ID

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Pavel Kirienko
2015-05-12 13:01:44 +03:00
parent 0253933f75
commit 9efd1ac7ae
3 changed files with 6 additions and 4 deletions
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libuavcan/include/uavcan/protocol/dynamic_node_id_server/node_id_selector.hpp
+4 -4
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@@ -35,12 +35,12 @@ public:
/**
* Reutrns a default-constructed (invalid) node ID if a free one could not be found.
*/
NodeID findFreeNodeID(const NodeID preferred_node_id) const
NodeID findFreeNodeID(const NodeID preferred) const
{
uint8_t candidate = preferred_node_id.isUnicast() ? preferred_node_id.get() : NodeID::Max;
uint8_t candidate = preferred.isUnicast() ? preferred.get() : NodeID::MaxRecommendedForRegularNodes;
// Up
while (candidate <= NodeID::Max)
while (candidate <= NodeID::MaxRecommendedForRegularNodes)
{
if (!(owner_->*is_node_id_taken_)(candidate))
{
@@ -49,7 +49,7 @@ public:
candidate++;
}
candidate = preferred_node_id.isUnicast() ? preferred_node_id.get() : NodeID::Max;
candidate = preferred.isUnicast() ? preferred.get() : NodeID::MaxRecommendedForRegularNodes;
candidate--; // This has been tested already
// Down