libuavcan passive mode support

libuavcan/include/uavcan/error.hpp

@@ -26,6 +26,7 @@ const int16_t ErrInvalidTransferListener = 7;
 const int16_t ErrNotInited               = 8;
 const int16_t ErrRecursiveCall           = 9;
 const int16_t ErrLogic                   = 10;
+const int16_t ErrPassiveMode             = 11;
 
 }
 

libuavcan/include/uavcan/node/abstract_node.hpp

@@ -34,6 +34,8 @@ public:
         return getScheduler().getDispatcher().setNodeID(nid);
     }
 
+    bool isPassiveMode() const { return getScheduler().getDispatcher().isPassiveMode(); }
+
     int spin(MonotonicTime deadline)
     {
         return getScheduler().spin(deadline);

libuavcan/include/uavcan/transport/dispatcher.hpp

@@ -141,6 +141,8 @@ public:
     NodeID getNodeID() const { return self_node_id_; }
     bool setNodeID(NodeID nid);
 
+    bool isPassiveMode() const { return !getNodeID().isUnicast(); }
+
     const ISystemClock& getSystemClock() const { return sysclock_; }
     ISystemClock& getSystemClock() { return sysclock_; }
 

libuavcan/src/protocol/uc_node_status_provider.cpp

@@ -62,10 +62,15 @@ int NodeStatusProvider::startAndPublish()
         return -ErrNotInited;
     }
 
-    int res = publish(); // Initial broadcast
+    int res = -1;
-    if (res < 0)
+
+    if (!getNode().isPassiveMode())
     {
-        goto fail;
+        res = publish(); // Initial broadcast
+        if (res < 0)
+        {
+            goto fail;
+        }
     }
 
     res = gdr_sub_.start(GlobalDiscoveryRequestCallback(this, &NodeStatusProvider::handleGlobalDiscoveryRequest));
@@ -80,7 +85,10 @@ int NodeStatusProvider::startAndPublish()
         goto fail;
     }
 
-    TimerBase::startPeriodic(MonotonicDuration::fromMSec(protocol::NodeStatus::PUBLICATION_PERIOD_MS));
+    if (!getNode().isPassiveMode())
+    {
+        TimerBase::startPeriodic(MonotonicDuration::fromMSec(protocol::NodeStatus::PUBLICATION_PERIOD_MS));
+    }
 
     return res;
 

libuavcan/src/transport/uc_transfer_sender.cpp

@@ -19,6 +19,11 @@ int TransferSender::send(const uint8_t* payload, int payload_len, MonotonicTime
                          MonotonicTime blocking_deadline, TransferType transfer_type, NodeID dst_node_id,
                          TransferID tid)
 {
+    if (dispatcher_.isPassiveMode())
+    {
+        return -ErrPassiveMode;
+    }
+
     dispatcher_.getTransferPerfCounter().addTxTransfer();
 
     Frame frame(data_type_.getID(), transfer_type, dispatcher_.getNodeID(), dst_node_id, 0, tid);

libuavcan/test/transport/transfer_sender.cpp

@@ -218,3 +218,28 @@ TEST(TransferSender, Loopback)
     EXPECT_EQ(1, dispatcher.getTransferPerfCounter().getTxTransferCount());
     EXPECT_EQ(0, dispatcher.getTransferPerfCounter().getRxTransferCount());
 }
+
+TEST(TransferSender, PassiveMode)
+{
+    uavcan::PoolManager<1> poolmgr;
+
+    SystemClockMock clockmock(100);
+    CanDriverMock driver(2, clockmock);
+
+    uavcan::OutgoingTransferRegistry<8> out_trans_reg(poolmgr);
+
+    uavcan::Dispatcher dispatcher(driver, poolmgr, clockmock, out_trans_reg);
+
+    uavcan::TransferSender sender(dispatcher, makeDataType(uavcan::DataTypeKindMessage, 123),
+                                  uavcan::CanTxQueue::Volatile);
+
+    static const uint8_t Payload[] = {1, 2, 3, 4, 5};
+
+    ASSERT_EQ(-uavcan::ErrPassiveMode,
+              sender.send(Payload, sizeof(Payload), tsMono(1000), uavcan::MonotonicTime(),
+                          uavcan::TransferTypeMessageBroadcast, uavcan::NodeID::Broadcast));
+
+    EXPECT_EQ(0, dispatcher.getTransferPerfCounter().getErrorCount());
+    EXPECT_EQ(0, dispatcher.getTransferPerfCounter().getTxTransferCount());
+    EXPECT_EQ(0, dispatcher.getTransferPerfCounter().getRxTransferCount());
+}