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();
}
void DynamicNodeIDClient::handleAllocation(const ReceivedDataStructure<protocol::dynamic_node_id::Allocation>& msg)
{
/*
* TODO This method can blow the stack easily
*/
UAVCAN_ASSERT(preferred_node_id_.isValid());
if (isAllocationComplete())
{
UAVCAN_ASSERT(0);
terminate();
return;
}
startPeriodic(getPeriod()); // Restarting the timer - Rule C
UAVCAN_TRACE("DynamicNodeIDClient", "Request timer reset because of Allocation message from %d",
static_cast<int>(msg.getSrcNodeID().get()));
// Rule D
if (!msg.isAnonymousTransfer() &&
msg.unique_id.size() > 0 &&
msg.unique_id.size() < msg.unique_id.capacity() &&
equal(msg.unique_id.begin(), msg.unique_id.end(), unique_id_))
{
// Filling the response message
const uint8_t size_of_unique_id_in_response =
min(protocol::dynamic_node_id::Allocation::MAX_LENGTH_OF_UNIQUE_ID_IN_REQUEST,
static_cast<uint8_t>(msg.unique_id.capacity() - msg.unique_id.size()));
protocol::dynamic_node_id::Allocation second_stage;
second_stage.node_id = preferred_node_id_.get();
second_stage.first_part_of_unique_id = false;
second_stage.unique_id.resize(size_of_unique_id_in_response);
copy(unique_id_ + msg.unique_id.size(),
unique_id_ + msg.unique_id.size() + size_of_unique_id_in_response,
second_stage.unique_id.begin());
UAVCAN_ASSERT(equal(second_stage.unique_id.begin(),
second_stage.unique_id.end(),
unique_id_ + msg.unique_id.size()));
// Broadcasting the response
UAVCAN_TRACE("DynamicNodeIDClient", "Broadcasting 2nd stage: preferred ID: %d, size of unique ID: %d",
static_cast<int>(preferred_node_id_.get()), static_cast<int>(second_stage.unique_id.size()));
const int res = dnida_pub_.broadcast(second_stage);
if (res < 0)
{
dnida_pub_.getNode().registerInternalFailure("DynamicNodeIDClient request failed");
}
}
// Rule E
if (!msg.isAnonymousTransfer() &&
msg.unique_id.size() == msg.unique_id.capacity() &&
equal(msg.unique_id.begin(), msg.unique_id.end(), unique_id_) &&
msg.node_id > 0)
{
allocated_node_id_ = msg.node_id;
allocator_node_id_ = msg.getSrcNodeID();
UAVCAN_TRACE("DynamicNodeIDClient", "Allocation complete, node ID %d provided by %d",
static_cast<int>(allocated_node_id_.get()), static_cast<int>(allocator_node_id_.get()));
terminate();
UAVCAN_ASSERT(isAllocationComplete());
}
}
