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AP_DroneCAN: DNA_Server: use 0 as unknown ID 

Slightly reduces flash usage and probably is clearer.
This commit is contained in:
Thomas Watson 2024-07-13 15:23:36 -05:00 committed by Andrew Tridgell
parent 8d57533f1c
commit 9aeab7b424
1 changed files with 7 additions and 7 deletions
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14
libraries/AP_DroneCAN/AP_DroneCAN_DNA_Server.cpp
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@ -148,10 +148,10 @@ bool AP_DroneCAN_DNA_Server::isNodeIDVerified(uint8_t node_id) const
/* Go through Server Records, and fetch node id that matches the provided
Unique IDs hash.
Returns 255 if no Node ID was detected */
Returns 0 if no Node ID was detected */
uint8_t AP_DroneCAN_DNA_Server::getNodeIDForUniqueID(const uint8_t unique_id[], uint8_t size)
{
uint8_t node_id = 255;
uint8_t node_id = 0;
NodeData node_data, cmp_node_data;
getHash(cmp_node_data, unique_id, size);
@ -230,7 +230,7 @@ bool AP_DroneCAN_DNA_Server::init(uint8_t own_unique_id[], uint8_t own_unique_id
// Making sure that the server is started with the same node ID
const uint8_t stored_own_node_id = getNodeIDForUniqueID(own_unique_id, own_unique_id_len);
static bool reset_done;
if (stored_own_node_id != 255) {
if (stored_own_node_id != 0) {
if (stored_own_node_id != node_id) {
/* We have a different node id recorded against our own unique id
This calls for a reset */
@ -304,7 +304,7 @@ uint8_t AP_DroneCAN_DNA_Server::findFreeNodeID(uint8_t preferred)
candidate--;
}
// Not found
return 255;
return 0;
}
//Check if we have received Node Status from this node_id
@ -472,7 +472,7 @@ void AP_DroneCAN_DNA_Server::handleNodeInfo(const CanardRxTransfer& transfer, co
/* Node Id was not allocated by us, or during this boot, let's register this in our records
Check if we allocated this Node before */
uint8_t prev_node_id = getNodeIDForUniqueID(rsp.hardware_version.unique_id, 16);
if (prev_node_id != 255) {
if (prev_node_id != 0) {
//yes we did, remove this registration
freeNodeID(prev_node_id);
}
@ -545,9 +545,9 @@ void AP_DroneCAN_DNA_Server::handleAllocation(const CanardRxTransfer& transfer,
if (rcvd_unique_id_offset == 16) {
//We have received the full Unique ID, time to do allocation
uint8_t resp_node_id = getNodeIDForUniqueID((const uint8_t*)rcvd_unique_id, 16);
if (resp_node_id == 255) {
if (resp_node_id == 0) {
resp_node_id = findFreeNodeID(msg.node_id > MAX_NODE_ID ? 0 : msg.node_id);
if (resp_node_id != 255) {
if (resp_node_id != 0) {
addNodeIDForUniqueID(resp_node_id, (const uint8_t*)rcvd_unique_id, 16);
rsp.node_id = resp_node_id;
} else {