Simplified structures in uavcan.protocol.*

dsdl/uavcan/protocol/552.GetDataTypeInfo.uavcan

@@ -7,8 +7,8 @@ DataTypeKind kind
 
 ---
 
-DataTypeSignature signature # Data type hash as computed by DSDL compiler (type name + each field)
-DataTypeName name           # Full data type name, e.g. "std.node.GetDataTypeInfo"
+uint64 signature            # Data type signature
+uint8[<=80] name            # Full data type name, e.g. "uavcan.protocol.GetDataTypeInfo"
 
 uint8 MASK_KNOWN      = 1   # This data type is defined
 uint8 MASK_SUBSCRIBED = 2   # Subscribed to messages of this type

dsdl/uavcan/protocol/554.ComputeAggregateTypeSignature.uavcan

@@ -2,10 +2,10 @@
 # This service allows to detect type compatibility between two nodes in one request.
 #
 
-DataTypeIDMask known_ids
+bool[1024] known_ids
 DataTypeKind kind
 
 ---
 
-DataTypeIDMask mutually_known_ids
-DataTypeSignature aggregate_signature
+bool[1024] mutually_known_ids
+uint64 aggregate_signature

dsdl/uavcan/protocol/DataTypeIDMask.uavcan

@@ -1,5 +0,0 @@
-#
-# Data type ID mask; 1 - known, 0 - unknown.
-#
-
-bool[1024] value

dsdl/uavcan/protocol/DataTypeName.uavcan

@@ -1,5 +0,0 @@
-#
-# Full data type name.
-#
-
-uint8[<=80] value

dsdl/uavcan/protocol/DataTypeSignature.uavcan

@@ -1,5 +0,0 @@
-#
-# Data type signature value, 64 bit.
-#
-
-uint64 value

libuavcan/include/uavcan/data_type.hpp

@@ -5,6 +5,7 @@
 #pragma once
 
 #include <cassert>
+#include <cstring>
 #include <stdint.h>
 #include <algorithm>
 #include <uavcan/internal/transport/crc.hpp>
@@ -92,6 +93,7 @@ class DataTypeDescriptor
 
 public:
     enum { MaxDataTypeID = Frame::MaxDataTypeID };
+    enum { MaxFullNameLen = 80 };
 
     DataTypeDescriptor()
     : kind_(DataTypeKind(0))
@@ -108,6 +110,7 @@ public:
         assert(id <= MaxDataTypeID);
         assert(kind < NumDataTypeKinds);
         assert(name);
+        assert(std::strlen(name) <= MaxFullNameLen);
     }
 
     DataTypeKind getKind() const { return kind_; }