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AP_DroneCAN: DNA_Server: make lower level database tasks private

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All the higher level database operations need to be locked for the whole
duration of the operation, so nobody should be using the lower-level
tasks or raw read/write functions. We can also remove the locks from
them.

The database can now safely be used by multiple servers.
This commit is contained in:
Thomas Watson 2024-08-05 11:04:32 -05:00 committed by Andrew Tridgell
parent 4097e9fa42
commit e12f345bae
2 changed files with 1 additions and 3 deletions
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2
libraries/AP_DroneCAN/AP_DroneCAN_DNA_Server.cpp
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@ -74,7 +74,6 @@ void AP_DroneCAN_DNA_Server::Database::readNodeData(NodeData &data, uint8_t node
return;
}
WITH_SEMAPHORE(sem);
storage->read_block(&data, NODEDATA_LOC(node_id), sizeof(struct NodeData));
}
@ -85,7 +84,6 @@ void AP_DroneCAN_DNA_Server::Database::writeNodeData(const NodeData &data, uint8
return;
}
WITH_SEMAPHORE(sem);
storage->write_block(NODEDATA_LOC(node_id), &data, sizeof(struct NodeData));
}

2
libraries/AP_DroneCAN/AP_DroneCAN_DNA_Server.h
View File

@ -47,6 +47,7 @@ class AP_DroneCAN_DNA_Server
// handle the allocation message. returns the new node ID.
uint8_t handleAllocation(uint8_t node_id, const uint8_t unique_id[]);
private:
//Generates 6Byte long hash from the specified unique_id
void getHash(NodeData &node_data, const uint8_t unique_id[], uint8_t size) const;
@ -62,7 +63,6 @@ class AP_DroneCAN_DNA_Server
//Finds next available free Node, starting from preferred NodeID
uint8_t findFreeNodeID(uint8_t preferred);
private:
//Look in the storage and check if there's a valid Server Record there
bool isValidNodeDataAvailable(uint8_t node_id);