Support for different DTID limits depending on data type kind; tests are failing now!

libuavcan/include/uavcan/data_type.hpp

@@ -24,22 +24,49 @@ enum DataTypeKind
 };
 
 
+static inline DataTypeKind getDataTypeKindForTransferType(const TransferType tt)
+{
+    if (tt == TransferTypeServiceResponse ||
+        tt == TransferTypeServiceRequest)
+    {
+        return DataTypeKindService;
+    }
+    else if (tt == TransferTypeMessageBroadcast ||
+             tt == TransferTypeMessageUnicast)
+    {
+        return DataTypeKindMessage;
+    }
+    else
+    {
+        UAVCAN_ASSERT(0);
+        return DataTypeKind(0);
+    }
+}
+
+
 class UAVCAN_EXPORT DataTypeID
 {
     uint16_t value_;
 
 public:
-    static const uint16_t Max = 1023;
+    static const uint16_t MaxServiceDataTypeIDValue = 511;
+    static const uint16_t MaxMessageDataTypeIDValue = 2047;
+    static const uint16_t MaxPossibleDataTypeIDValue = MaxMessageDataTypeIDValue;
 
     DataTypeID() : value_(0xFFFF) { }
 
     DataTypeID(uint16_t id)  // Implicit
         : value_(id)
     {
-        UAVCAN_ASSERT(isValid());
+        UAVCAN_ASSERT(id < 0xFFFF);
     }
 
-    bool isValid() const { return value_ <= Max; }
+    static DataTypeID getMaxValueForDataTypeKind(const DataTypeKind dtkind);
+
+    bool isValidForDataTypeKind(DataTypeKind dtkind) const
+    {
+        return value_ <= getMaxValueForDataTypeKind(dtkind).get();
+    }
 
     uint16_t get() const { return value_; }
 
@@ -128,6 +155,8 @@ public:
         UAVCAN_ASSERT(std::strlen(name) <= MaxFullNameLen);
     }
 
+    bool isValid() const;
+
     DataTypeKind getKind() const { return kind_; }
     DataTypeID getID() const { return id_; }
     const DataTypeSignature& getSignature() const { return signature_; }

libuavcan/include/uavcan/node/global_data_type_registry.hpp

@@ -21,7 +21,7 @@ namespace uavcan
 /**
  * Bit mask where bit at index X is set if there's a Data Type with ID X.
  */
-typedef BitSet<DataTypeID::Max + 1> DataTypeIDMask;
+typedef BitSet<DataTypeID::MaxPossibleDataTypeIDValue + 1> DataTypeIDMask;
 
 /**
  * This singleton is shared among all existing node instances. It is instantiated automatically
@@ -153,6 +153,7 @@ public:
 
     /**
      * Computes Aggregate Signature for all known data types selected by the mask.
+     * Extra bits will be zeroed.
      * Please read the DSDL specification.
      * @param[in]       kind            Data Type Kind - messages or services.
      * @param[inout]    inout_id_mask   Data types to compute aggregate signature for; bits at

libuavcan/include/uavcan/transport/frame.hpp

@@ -49,7 +49,7 @@ public:
         , last_frame_(last_frame)
     {
         UAVCAN_ASSERT((transfer_type == TransferTypeMessageBroadcast) == dst_node_id.isBroadcast());
-        UAVCAN_ASSERT(data_type_id.isValid());
+        UAVCAN_ASSERT(data_type_id.isValidForDataTypeKind(getDataTypeKindForTransferType(transfer_type)));
         UAVCAN_ASSERT(src_node_id.isUnicast() ? (src_node_id != dst_node_id) : true);
         UAVCAN_ASSERT(frame_index <= MaxIndex);
     }