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AP_DroneCAN: DNA_Server: move init operation into db 

Must be locked for the whole operation due to the get/add
read-modify-write.
This commit is contained in:
Thomas Watson 2024-08-05 10:43:53 -05:00 committed by Andrew Tridgell
parent 01e285c681
commit e79437d04a
2 changed files with 26 additions and 14 deletions
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37
libraries/AP_DroneCAN/AP_DroneCAN_DNA_Server.cpp
View File

@ -197,20 +197,8 @@ bool AP_DroneCAN_DNA_Server::init(uint8_t own_unique_id[], uint8_t own_unique_id
db.reset();
}
// Making sure that the server is started with the same node ID
const uint8_t stored_own_node_id = db.getNodeIDForUniqueID(own_unique_id, own_unique_id_len);
static bool reset_done;
if (stored_own_node_id != node_id) { // cannot match if not found
// We have no matching record of our own Unique ID do a reset
if (!reset_done) {
/* ensure we only reset once per power cycle
else we will wipe own record on next init(s) */
db.reset();
reset_done = true;
}
//Add ourselves to the Server Record
db.addNodeIDForUniqueID(node_id, own_unique_id, own_unique_id_len);
}
db.initServer(node_id, own_unique_id, own_unique_id_len);
/* Also add to seen node id this is to verify
if any duplicates are on the bus carrying our Node ID */
node_seen.set(node_id);
@ -220,6 +208,27 @@ bool AP_DroneCAN_DNA_Server::init(uint8_t own_unique_id[], uint8_t own_unique_id
return true;
}
// handle initializing the server with the given expected node ID and unique ID
void AP_DroneCAN_DNA_Server::Database::initServer(uint8_t node_id, const uint8_t own_unique_id[], uint8_t own_unique_id_len)
{
WITH_SEMAPHORE(sem);
// 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 != node_id) { // cannot match if not found
// We have no matching record of our own Unique ID do a reset
if (!reset_done) {
/* ensure we only reset once per power cycle
else we will wipe own record on next init(s) */
reset();
reset_done = true;
}
//Add ourselves to the Server Record
addNodeIDForUniqueID(node_id, own_unique_id, own_unique_id_len);
}
}
//Reset the Server Records
void AP_DroneCAN_DNA_Server::Database::reset()

3
libraries/AP_DroneCAN/AP_DroneCAN_DNA_Server.h
View File

@ -38,6 +38,9 @@ class AP_DroneCAN_DNA_Server
return node_storage_occupied.get(node_id);
}
// handle initializing the server with the given expected node ID and unique ID
void initServer(uint8_t node_id, const uint8_t own_unique_id[], uint8_t own_unique_id_len);
//Generates 6Byte long hash from the specified unique_id
void getHash(NodeData &node_data, const uint8_t unique_id[], uint8_t size) const;