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NetworkCompatibilityChecker will not be executed at each Node<>::start(), there's special method for that - Node<>::checkNetworkCompatibility()

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This commit is contained in:
Pavel Kirienko
2014-04-12 22:10:26 +04:00
parent dd5908dad8
commit e476a957a8
6 changed files with 60 additions and 46 deletions
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libuavcan_drivers/stm32/test_stm32f107/src/main.cpp
+13 -6
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@@ -81,16 +81,23 @@ public:
*/
while (true)
{
uavcan::NodeInitializationResult init_result;
const int uavcan_start_res = node.start(init_result);
// Calling start() multiple times is OK - only the first successfull call will be effective
int res = node.start();
if (uavcan_start_res < 0)
uavcan::NetworkCompatibilityCheckResult ncc_result;
if (res >= 0)
{
lowsyslog("Node initialization failure: %i, will try agin soon\n", uavcan_start_res);
lowsyslog("Checking network compatibility...\n");
res = node.checkNetworkCompatibility(ncc_result);
}
else if (!init_result.isOk())
if (res < 0)
{
lowsyslog("Network conflict with %u, will try again soon\n", init_result.conflicting_node.get());
lowsyslog("Node initialization failure: %i, will try agin soon\n", res);
}
else if (!ncc_result.isOk())
{
lowsyslog("Network conflict with %u, will try again soon\n", ncc_result.conflicting_node.get());
}
else
{