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AP_DroneCAN: DNA_Server: search for valid nodes after magic check 

Ensures the occupation mask doesn't get populated with junk if the magic
is not valid.
This commit is contained in:
Thomas Watson 2024-07-13 12:50:11 -05:00 committed by Andrew Tridgell
parent c1f59186fa
commit cd8519321b
1 changed files with 9 additions and 7 deletions
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16
libraries/AP_DroneCAN/AP_DroneCAN_DNA_Server.cpp
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@ -217,13 +217,6 @@ bool AP_DroneCAN_DNA_Server::init(uint8_t own_unique_id[], uint8_t own_unique_id
{ {
//Read the details from AP_DroneCAN //Read the details from AP_DroneCAN
server_state = HEALTHY; server_state = HEALTHY;
/* Go through our records and look for valid NodeData, to initialise
occupation mask */
for (uint8_t i = 0; i <= MAX_NODE_ID; i++) {
if (isValidNodeDataAvailable(i)) {
occupation_mask.set(i);
}
}
// Check if the magic is present // Check if the magic is present
uint16_t magic; uint16_t magic;
@ -239,6 +232,15 @@ bool AP_DroneCAN_DNA_Server::init(uint8_t own_unique_id[], uint8_t own_unique_id
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "UC DNA database reset"); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "UC DNA database reset");
reset(); reset();
} }
/* Go through our records and look for valid NodeData, to initialise
occupation mask */
for (uint8_t i = 0; i <= MAX_NODE_ID; i++) {
if (isValidNodeDataAvailable(i)) {
occupation_mask.set(i);
}
}
// Making sure that the server is started with the same node 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); const uint8_t stored_own_node_id = getNodeIDForUniqueID(own_unique_id, own_unique_id_len);
static bool reset_done; static bool reset_done;