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AP_CANManager: fixed build warning for stack size

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dynamically allocate test objects instead of putting on the stack
This commit is contained in:
Andrew Tridgell 2020-09-14 11:47:45 +10:00
parent cd1502ab72
commit 27a85ef51c
1 changed files with 24 additions and 13 deletions
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37
libraries/AP_CANManager/AP_CANTester.cpp
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@ -421,7 +421,6 @@ bool CANTester::test_busoff_recovery()
bool CANTester::test_uavcan_dna() bool CANTester::test_uavcan_dna()
{ {
uavcan::CanIfaceMgr _uavcan_iface_mgr {}; uavcan::CanIfaceMgr _uavcan_iface_mgr {};
if (!_uavcan_iface_mgr.add_interface(_can_ifaces[0])) { if (!_uavcan_iface_mgr.add_interface(_can_ifaces[0])) {
@ -429,8 +428,11 @@ bool CANTester::test_uavcan_dna()
return false; return false;
} }
uavcan::Node<0> node(_uavcan_iface_mgr, uavcan::SystemClock::instance(), _node_allocator); auto *node = new uavcan::Node<0>(_uavcan_iface_mgr, uavcan::SystemClock::instance(), _node_allocator);
node.setName("org.ardupilot.dnatest"); if (!node) {
return false;
}
node->setName("org.ardupilot.dnatest");
uavcan::protocol::HardwareVersion hw_version; uavcan::protocol::HardwareVersion hw_version;
const uint8_t uid_buf_len = hw_version.unique_id.capacity(); const uint8_t uid_buf_len = hw_version.unique_id.capacity();
@ -442,14 +444,15 @@ bool CANTester::test_uavcan_dna()
uavcan::copy(unique_id, unique_id + uid_len, hw_version.unique_id.begin()); uavcan::copy(unique_id, unique_id + uid_len, hw_version.unique_id.begin());
} }
node.setHardwareVersion(hw_version); // Copying the value to the node's internals node->setHardwareVersion(hw_version); // Copying the value to the node's internals
/* /*
* Starting the node normally, in passive mode (i.e. without node ID assigned). * Starting the node normally, in passive mode (i.e. without node ID assigned).
*/ */
const int node_start_res = node.start(); const int node_start_res = node->start();
if (node_start_res < 0) { if (node_start_res < 0) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "Failed to start the node"); gcs().send_text(MAV_SEVERITY_CRITICAL, "Failed to start the node");
delete node;
return false; return false;
} }
@ -458,10 +461,14 @@ bool CANTester::test_uavcan_dna()
* By default, the client will use TransferPriority::OneHigherThanLowest for communications with the allocator; * By default, the client will use TransferPriority::OneHigherThanLowest for communications with the allocator;
* this can be overriden through the third argument to the start() method. * this can be overriden through the third argument to the start() method.
*/ */
uavcan::DynamicNodeIDClient client(node); auto *client = new uavcan::DynamicNodeIDClient(*node);
if (!client) {
delete node;
return false;
}
int expected_node_id = 100; int expected_node_id = 100;
int client_start_res = client.start(node.getHardwareVersion().unique_id, // USING THE SAME UNIQUE ID AS ABOVE int client_start_res = client->start(node->getHardwareVersion().unique_id, // USING THE SAME UNIQUE ID AS ABOVE
expected_node_id); expected_node_id);
if (client_start_res < 0) { if (client_start_res < 0) {
gcs().send_text(MAV_SEVERITY_ALERT,"Failed to start the dynamic node"); gcs().send_text(MAV_SEVERITY_ALERT,"Failed to start the dynamic node");
} }
@ -472,19 +479,23 @@ bool CANTester::test_uavcan_dna()
*/ */
gcs().send_text(MAV_SEVERITY_ALERT, "Allocation is in progress"); gcs().send_text(MAV_SEVERITY_ALERT, "Allocation is in progress");
uint32_t num_runs = 100; uint32_t num_runs = 100;
while (!client.isAllocationComplete() && num_runs--) { while (!client->isAllocationComplete() && num_runs--) {
const int res = node.spin(uavcan::MonotonicDuration::fromMSec(200)); // Spin duration doesn't matter const int res = node->spin(uavcan::MonotonicDuration::fromMSec(200)); // Spin duration doesn't matter
if (res < 0) { if (res < 0) {
gcs().send_text(MAV_SEVERITY_ALERT, "Transient failure"); gcs().send_text(MAV_SEVERITY_ALERT, "Transient failure");
} }
} }
gcs().send_text(MAV_SEVERITY_ALERT, "Dynamic NodeID %d allocated node ID %d", gcs().send_text(MAV_SEVERITY_ALERT, "Dynamic NodeID %d allocated node ID %d",
int(client.getAllocatedNodeID().get()), int(client->getAllocatedNodeID().get()),
int(client.getAllocatorNodeID().get())); int(client->getAllocatorNodeID().get()));
if (client.getAllocatedNodeID().get() != expected_node_id) { if (client->getAllocatedNodeID().get() != expected_node_id) {
gcs().send_text(MAV_SEVERITY_ALERT, "Unexpected Node Id, expected %d", expected_node_id); gcs().send_text(MAV_SEVERITY_ALERT, "Unexpected Node Id, expected %d", expected_node_id);
delete client;
delete node;
return false; return false;
} }
delete client;
delete node;
return true; return true;
} }