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AP_DroneCAN: DNAServer: don't "allocate" broadcast ID

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While technically legal, it's unlikely to have been tested and an
allocatee might do silly things. Also makes the logic a bit more clear
and improves the failure message.
This commit is contained in:
Thomas Watson 2024-09-08 21:57:58 -05:00 committed by Andrew Tridgell
parent 5a1c825ea2
commit aca624486d
1 changed files with 9 additions and 4 deletions
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13
libraries/AP_DroneCAN/AP_DroneCAN_DNA_Server.cpp
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@ -138,8 +138,6 @@ uint8_t AP_DroneCAN_DNA_Server::Database::handle_allocation(uint8_t node_id, con
resp_node_id = find_free_node_id(node_id > MAX_NODE_ID ? 0 : node_id); resp_node_id = find_free_node_id(node_id > MAX_NODE_ID ? 0 : node_id);
if (resp_node_id != 0) { if (resp_node_id != 0) {
create_registration(resp_node_id, unique_id, 16); create_registration(resp_node_id, unique_id, 16);
} else {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "UC Node Alloc Failed!");
} }
} }
return resp_node_id; // will be 0 if not found and not created return resp_node_id; // will be 0 if not found and not created
@ -465,11 +463,11 @@ void AP_DroneCAN_DNA_Server::handle_allocation(const CanardRxTransfer& transfer,
if (rcvd_unique_id_offset) { if (rcvd_unique_id_offset) {
debug_dronecan(AP_CANManager::LOG_DEBUG, "TIME: %lu -- Accepting Followup part! %u\n", debug_dronecan(AP_CANManager::LOG_DEBUG, "TIME: %lu -- Accepting Followup part! %u\n",
now, (unsigned long)now,
unsigned((now - last_alloc_msg_ms))); unsigned((now - last_alloc_msg_ms)));
} else { } else {
debug_dronecan(AP_CANManager::LOG_DEBUG, "TIME: %lu -- Accepting First part! %u\n", debug_dronecan(AP_CANManager::LOG_DEBUG, "TIME: %lu -- Accepting First part! %u\n",
now, (unsigned long)now,
unsigned((now - last_alloc_msg_ms))); unsigned((now - last_alloc_msg_ms)));
} }
@ -492,6 +490,13 @@ void AP_DroneCAN_DNA_Server::handle_allocation(const CanardRxTransfer& transfer,
if (rcvd_unique_id_offset == sizeof(rcvd_unique_id)) { // full unique ID received, allocate it! if (rcvd_unique_id_offset == sizeof(rcvd_unique_id)) { // full unique ID received, allocate it!
rsp.node_id = db.handle_allocation(msg.node_id, rcvd_unique_id); rsp.node_id = db.handle_allocation(msg.node_id, rcvd_unique_id);
rcvd_unique_id_offset = 0; // reset state for next allocation rcvd_unique_id_offset = 0; // reset state for next allocation
if (rsp.node_id == 0) { // allocation failed
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "DroneCAN DNA allocation failed; database full");
// don't send reply with a failed ID in case the allocatee does
// silly things, though it is technically legal. the allocatee will
// then time out and try again (though we still won't have an ID!)
return;
}
} }
allocation_pub.broadcast(rsp, false); // never publish allocation message with CAN FD allocation_pub.broadcast(rsp, false); // never publish allocation message with CAN FD