Merge branch 'dynamic_node_id'

libuavcan/include/uavcan/transport/dispatcher.hpp

@@ -115,6 +115,7 @@ public:
         : canio_(driver, allocator, sysclock)
         , sysclock_(sysclock)
         , outgoing_transfer_reg_(otr)
+        , self_node_id_(NodeID::Broadcast)  // Default
         , self_node_id_is_set_(false)
     { }
 

libuavcan/include/uavcan/transport/frame.hpp

@@ -50,7 +50,7 @@ public:
     {
         UAVCAN_ASSERT((transfer_type == TransferTypeMessageBroadcast) == dst_node_id.isBroadcast());
         UAVCAN_ASSERT(data_type_id.isValid());
-        UAVCAN_ASSERT(src_node_id != dst_node_id);
+        UAVCAN_ASSERT(src_node_id.isUnicast() ? (src_node_id != dst_node_id) : true);
         UAVCAN_ASSERT(frame_index <= MaxIndex);
     }
 

libuavcan/include/uavcan/transport/transfer_listener.hpp

@@ -50,6 +50,11 @@ public:
      */
     virtual void release() { }
 
+    /**
+     * Whether this is a anonymous transfer
+     */
+    virtual bool isAnonymousTransfer() const { return false; }
+
     MonotonicTime getMonotonicTimestamp() const { return ts_mono_; }
     UtcTime getUtcTimestamp()             const { return ts_utc_; }
     TransferType getTransferType()        const { return transfer_type_; }
@@ -68,6 +73,7 @@ class UAVCAN_EXPORT SingleFrameIncomingTransfer : public IncomingTransfer
 public:
     explicit SingleFrameIncomingTransfer(const RxFrame& frm);
     virtual int read(unsigned offset, uint8_t* data, unsigned len) const;
+    virtual bool isAnonymousTransfer() const;
 };
 
 /**
@@ -93,6 +99,7 @@ class UAVCAN_EXPORT TransferListenerBase : public LinkedListNode<TransferListene
     MapBase<TransferBufferManagerKey, TransferReceiver>& receivers_;
     ITransferBufferManager& bufmgr_;
     TransferPerfCounter& perf_;
+    bool allow_anonymous_transfers_;
 
     class TimedOutReceiverPredicate
     {
@@ -119,17 +126,25 @@ protected:
         , receivers_(receivers)
         , bufmgr_(bufmgr)
         , perf_(perf)
+        , allow_anonymous_transfers_(false)
     { }
 
     virtual ~TransferListenerBase() { }
 
     void handleReception(TransferReceiver& receiver, const RxFrame& frame, TransferBufferAccessor& tba);
+    void handleAnonymousTransferReception(const RxFrame& frame);
 
     virtual void handleIncomingTransfer(IncomingTransfer& transfer) = 0;
 
 public:
     const DataTypeDescriptor& getDataTypeDescriptor() const { return data_type_; }
 
+    /**
+     * By default, anonymous transfers will be ignored.
+     * This option allows to enable reception of anonymous transfers.
+     */
+    void allowAnonymousTransfers() { allow_anonymous_transfers_ = true; }
+
     void cleanup(MonotonicTime ts);
 
     virtual void handleFrame(const RxFrame& frame);

libuavcan/include/uavcan/transport/transfer_sender.hpp

@@ -25,6 +25,7 @@ class UAVCAN_EXPORT TransferSender
     const TransferCRC crc_base_;
     CanIOFlags flags_;
     uint8_t iface_mask_;
+    bool allow_anonymous_transfers_;
 
     Dispatcher& dispatcher_;
 
@@ -46,6 +47,7 @@ public:
         , crc_base_(data_type.getSignature().toTransferCRC())
         , flags_(CanIOFlags(0))
         , iface_mask_(AllIfacesMask)
+        , allow_anonymous_transfers_(false)
         , dispatcher_(dispatcher)
     { }
 
@@ -59,6 +61,15 @@ public:
         iface_mask_ = iface_mask;
     }
 
+    /**
+     * Anonymous transfers (i.e. transfers that don't carry a valid Source Node ID) can be sent if
+     * the local node is configured in passive mode (i.e. the node doesn't have a valid Node ID).
+     * By default, this class will return an error if it is asked to send a transfer while the
+     * node is configured in passive mode. However, if this option is enabled, it will be possible
+     * to send anonymous transfers from passive mode.
+     */
+    void allowAnonymousTransfers() { allow_anonymous_transfers_ = true; }
+
     /**
      * Send with explicit Transfer ID.
      * Should be used only for service responses, where response TID should match request TID.