ReceivedDataStructureCopy(const ReceivedDataStructure& s) :
ts_monotonic(s.getMonotonicTimestamp()),
ts_utc(s.getUtcTimestamp()),
transfer_type(s.getTransferType()),
transfer_id(s.getTransferID()),
src_node_id(s.getSrcNodeID()),
iface_index(s.getIfaceIndex()),
msg(s)
{ }
void processMsg(const ReceivedDataStructure<protocol::GlobalTimeSync>& msg)
{
const MonotonicDuration since_prev_msg = msg.getMonotonicTimestamp() - prev_ts_mono_;
UAVCAN_ASSERT(!since_prev_msg.isNegative());
const bool needs_init = !master_nid_.isValid() || prev_ts_mono_.isZero();
const bool switch_master = msg.getSrcNodeID() < master_nid_;
// TODO: Make configurable
const bool pub_timeout = since_prev_msg.toMSec() > protocol::GlobalTimeSync::RECOMMENDED_BROADCASTER_TIMEOUT_MS;
if (switch_master || pub_timeout || needs_init)
{
UAVCAN_TRACE("GlobalTimeSyncSlave", "Force update: needs_init=%i switch_master=%i pub_timeout=%i",
int(needs_init), int(switch_master), int(pub_timeout));
updateFromMsg(msg);
}
else if (msg.getIfaceIndex() == prev_iface_index_ && msg.getSrcNodeID() == master_nid_)
{
if (state_ == Adjust)
{
const bool msg_invalid = msg.previous_transmission_timestamp_usec == 0;
const bool wrong_tid = prev_tid_.computeForwardDistance(msg.getTransferID()) != 1;
const bool wrong_timing = since_prev_msg.toMSec() > protocol::GlobalTimeSync::MAX_BROADCASTING_PERIOD_MS;
if (msg_invalid || wrong_tid || wrong_timing)
{
UAVCAN_TRACE("GlobalTimeSyncSlave",
"Adjustment skipped: msg_invalid=%i wrong_tid=%i wrong_timing=%i",
int(msg_invalid), int(wrong_tid), int(wrong_timing));
state_ = Update;
}
}
if (state_ == Adjust)
{
adjustFromMsg(msg);
}
else
{
updateFromMsg(msg);
}
}
else
{
UAVCAN_TRACE("GlobalTimeSyncSlave", "Ignored: snid=%i iface=%i",
int(msg.getSrcNodeID().get()), int(msg.getIfaceIndex()));
}
}
void handleAllocation(const ReceivedDataStructure<Allocation>& msg)
{
trace(TraceAllocationActivity, msg.getSrcNodeID().get());
if (!msg.isAnonymousTransfer())
{
return; // This is a response from another allocator, ignore
}
/*
* Reset the expected stage on timeout
*/
if (msg.getMonotonicTimestamp() > (last_message_timestamp_ + stage_timeout_))
{
UAVCAN_TRACE("AllocationRequestManager", "Stage timeout, reset");
current_unique_id_.clear();
trace(TraceAllocationFollowupTimeout, (msg.getMonotonicTimestamp() - last_message_timestamp_).toUSec());
}
/*
* Checking if request stage matches the expected stage
*/
const uint8_t request_stage = detectRequestStage(msg);
if (request_stage == InvalidStage)
{
trace(TraceAllocationBadRequest, msg.unique_id.size());
return; // Malformed request - ignore without resetting
}
const uint8_t expected_stage = getExpectedStage();
if (expected_stage == InvalidStage)
{
UAVCAN_ASSERT(0);
return;
}
if (request_stage != expected_stage)
{
trace(TraceAllocationUnexpectedStage, request_stage);
return; // Ignore - stage mismatch
}
const uint8_t max_expected_bytes =
static_cast<uint8_t>(current_unique_id_.capacity() - current_unique_id_.size());
UAVCAN_ASSERT(max_expected_bytes > 0);
if (msg.unique_id.size() > max_expected_bytes)
{
trace(TraceAllocationBadRequest, msg.unique_id.size());
return; // Malformed request
}
/*
* Updating the local state
*/
for (uint8_t i = 0; i < msg.unique_id.size(); i++)
{
current_unique_id_.push_back(msg.unique_id[i]);
}
trace(TraceAllocationRequestAccepted, current_unique_id_.size());
/*
* Proceeding with allocation if possible
* Note that single-frame CAN FD allocation requests will be delivered to the server even if it's not leader.
*/
if (current_unique_id_.size() == current_unique_id_.capacity())
{
UAVCAN_TRACE("AllocationRequestManager", "Allocation request received; preferred node ID: %d",
int(msg.node_id));
UniqueID unique_id;
copy(current_unique_id_.begin(), current_unique_id_.end(), unique_id.begin());
current_unique_id_.clear();
{
uint64_t event_agrument = 0;
for (uint8_t i = 0; i < 8; i++)
{
event_agrument |= static_cast<uint64_t>(unique_id[i]) << (56U - i * 8U);
}
trace(TraceAllocationExchangeComplete, static_cast<int64_t>(event_agrument));
}
handler_.handleAllocationRequest(unique_id, msg.node_id);
}
else
{
if (handler_.canPublishFollowupAllocationResponse())
{
publishFollowupAllocationResponse();
}
else
{
trace(TraceAllocationFollowupDenied, 0);
current_unique_id_.clear();
}
}
/*
* It is super important to update timestamp only if the request has been processed successfully.
*/
last_message_timestamp_ = msg.getMonotonicTimestamp();
}
