fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-21 23:53:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
This commit is contained in:
Pavel Kirienko
2015-04-29 03:08:07 +03:00
parent feb534a45f
commit eafcfa1733
11 changed files with 86 additions and 17 deletions
Download Patch File Download Diff File Expand all files Collapse all files
libuavcan/src/node/uc_global_data_type_registry.cpp
+2 -2
View File
@@ -61,7 +61,7 @@ GlobalDataTypeRegistry::RegistrationResult GlobalDataTypeRegistry::remove(Entry*
GlobalDataTypeRegistry::RegistrationResult GlobalDataTypeRegistry::registImpl(Entry* dtd)
{
if (!dtd || (dtd->descriptor.getID() > DataTypeID::Max))
if (!dtd || !dtd->descriptor.isValid())
{
UAVCAN_ASSERT(0);
return RegistrationResultInvalidParams;
@@ -241,7 +241,7 @@ DataTypeSignature GlobalDataTypeRegistry::computeAggregateSignature(DataTypeKind
p = p->getNextListNode();
}
prev_dtid++;
while (prev_dtid <= DataTypeID::Max)
while (unsigned(prev_dtid) < inout_id_mask.size())
{
inout_id_mask[unsigned(prev_dtid++)] = false;
}
libuavcan/src/protocol/uc_data_type_info_provider.cpp
+7 -3
View File
@@ -17,17 +17,21 @@ void DataTypeInfoProvider::handleComputeAggregateTypeSignatureRequest(
const protocol::ComputeAggregateTypeSignature::Request& request,
protocol::ComputeAggregateTypeSignature::Response& response)
{
const DataTypeKind kind = DataTypeKind(request.kind.value);
const DataTypeKind kind = DataTypeKind(request.kind.value); // No mapping needed
if (!isValidDataTypeKind(kind))
{
UAVCAN_TRACE("DataTypeInfoProvider",
"ComputeAggregateTypeSignature request with invalid DataTypeKind %i", kind);
"ComputeAggregateTypeSignature request with invalid DataTypeKind %d", kind);
return;
}
UAVCAN_TRACE("DataTypeInfoProvider", "ComputeAggregateTypeSignature request for dtk=%i", int(request.kind.value));
UAVCAN_TRACE("DataTypeInfoProvider", "ComputeAggregateTypeSignature request for dtk=%d, len(known_ids)=%d",
int(request.kind.value), int(request.known_ids.size()));
// Correcting the mask length according to the data type kind
response.mutually_known_ids = request.known_ids;
response.mutually_known_ids.resize(static_cast<uint16_t>(DataTypeID::getMaxValueForDataTypeKind(kind).get() + 1U));
response.aggregate_signature =
GlobalDataTypeRegistry::instance().computeAggregateSignature(kind, response.mutually_known_ids).get();
}
libuavcan/src/transport/uc_frame.cpp
+1 -1
View File
@@ -179,7 +179,7 @@ bool Frame::isValid() const
((transfer_type_ == TransferTypeMessageBroadcast) != dst_node_id_.isBroadcast()) ||
(transfer_type_ >= NumTransferTypes) ||
(static_cast<int>(payload_len_) > getMaxPayloadLen()) ||
(!data_type_id_.isValid());
(!data_type_id_.isValidForDataTypeKind(getDataTypeKindForTransferType(transfer_type_)));
return !invalid;
}
libuavcan/src/uc_data_type.cpp
+27 -1
View File
@@ -12,7 +12,26 @@ namespace uavcan
/*
* DataTypeID
*/
const uint16_t DataTypeID::Max;
const uint16_t DataTypeID::MaxServiceDataTypeIDValue;
const uint16_t DataTypeID::MaxMessageDataTypeIDValue;
const uint16_t DataTypeID::MaxPossibleDataTypeIDValue;
DataTypeID DataTypeID::getMaxValueForDataTypeKind(const DataTypeKind dtkind)
{
if (dtkind == DataTypeKindService)
{
return MaxServiceDataTypeIDValue;
}
else if (dtkind == DataTypeKindMessage)
{
return MaxMessageDataTypeIDValue;
}
else
{
UAVCAN_ASSERT(0);
return DataTypeID(0);
}
}
/*
* DataTypeSignatureCRC
@@ -78,6 +97,13 @@ TransferCRC DataTypeSignature::toTransferCRC() const
*/
const unsigned DataTypeDescriptor::MaxFullNameLen;
bool DataTypeDescriptor::isValid() const
{
return id_.isValidForDataTypeKind(kind_) &&
(full_name_ != NULL) &&
(*full_name_ != '\0');
}
bool DataTypeDescriptor::match(DataTypeKind kind, const char* name) const
{
return (kind_ == kind) && !std::strncmp(full_name_, name, MaxFullNameLen);