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