Merge branch 'dynamic_node_id'

libuavcan/include/uavcan/node/generic_publisher.hpp

@@ -60,6 +60,15 @@ public:
     MonotonicDuration getTxTimeout() const { return tx_timeout_; }
     void setTxTimeout(MonotonicDuration tx_timeout);
 
+    /**
+     * By default, attempt to send a transfer from passive mode will result in an error @ref ErrPassive.
+     * This option allows to enable sending anonymous transfers from passive mode.
+     */
+    void allowAnonymousTransfers()
+    {
+        sender_->allowAnonymousTransfers();
+    }
+
     INode& getNode() const { return node_; }
 };
 

libuavcan/include/uavcan/node/generic_subscriber.hpp

@@ -67,6 +67,7 @@ public:
     TransferID getTransferID()       const { return safeget<TransferID, &IncomingTransfer::getTransferID>(); }
     NodeID getSrcNodeID()            const { return safeget<NodeID, &IncomingTransfer::getSrcNodeID>(); }
     uint8_t getIfaceIndex()          const { return safeget<uint8_t, &IncomingTransfer::getIfaceIndex>(); }
+    bool isAnonymousTransfer()       const { return safeget<bool, &IncomingTransfer::isAnonymousTransfer>(); }
 };
 
 /**
@@ -200,6 +201,15 @@ protected:
         return genericStart(&Dispatcher::registerServiceResponseListener);
     }
 
+    /**
+     * By default, anonymous transfers will be ignored.
+     * This option allows to enable reception of anonymous transfers.
+     */
+    void allowAnonymousTransfers()
+    {
+        forwarder_->allowAnonymousTransfers();
+    }
+
     /**
      * Terminate the subscription.
      * Dispatcher core will remove this instance from the subscribers list.

libuavcan/include/uavcan/node/publisher.hpp

@@ -87,6 +87,7 @@ public:
      */
     using BaseType::init;
 
+    using BaseType::allowAnonymousTransfers;
     using BaseType::getTransferSender;
     using BaseType::getMinTxTimeout;
     using BaseType::getMaxTxTimeout;

libuavcan/include/uavcan/node/subscriber.hpp

@@ -111,6 +111,7 @@ public:
         return BaseType::startAsMessageListener();
     }
 
+    using BaseType::allowAnonymousTransfers;
     using BaseType::stop;
     using BaseType::getFailureCount;
 };