/**
* Invokes storage IO.
*/
int setVotedFor(NodeID node_id)
{
if (!node_id.isValid())
{
UAVCAN_ASSERT(0);
return -ErrInvalidParam;
}
tracer_.onEvent(TraceRaftVotedForUpdate, node_id.get());
StorageMarshaller io(storage_);
uint32_t tmp = node_id.get();
int res = io.setAndGetBack(getVotedForKey(), tmp);
if (res < 0)
{
return res;
}
if (node_id.get() != tmp)
{
return -ErrFailure;
}
voted_for_ = node_id;
return 0;
}
int DynamicNodeIDClient::start(const protocol::HardwareVersion& hardware_version,
const NodeID preferred_node_id,
const TransferPriority transfer_priority)
{
terminate();
// Allocation is not possible if node ID is already set
if (dnida_pub_.getNode().getNodeID().isUnicast())
{
return -ErrLogic;
}
// Unique ID initialization & validation
copy(hardware_version.unique_id.begin(), hardware_version.unique_id.end(), unique_id_);
bool unique_id_is_zero = true;
for (uint8_t i = 0; i < sizeof(unique_id_); i++)
{
if (unique_id_[i] != 0)
{
unique_id_is_zero = false;
break;
}
}
if (unique_id_is_zero)
{
return -ErrInvalidParam;
}
if (!preferred_node_id.isValid()) // Only broadcast and unicast are allowed
{
return -ErrInvalidParam;
}
// Initializing the fields
preferred_node_id_ = preferred_node_id;
allocated_node_id_ = NodeID();
allocator_node_id_ = NodeID();
UAVCAN_ASSERT(preferred_node_id_.isValid());
UAVCAN_ASSERT(!allocated_node_id_.isValid());
UAVCAN_ASSERT(!allocator_node_id_.isValid());
// Initializing node objects - Rule A
int res = dnida_pub_.init();
if (res < 0)
{
return res;
}
dnida_pub_.allowAnonymousTransfers();
dnida_pub_.setPriority(transfer_priority);
res = dnida_sub_.start(AllocationCallback(this, &DynamicNodeIDClient::handleAllocation));
if (res < 0)
{
return res;
}
dnida_sub_.allowAnonymousTransfers();
startPeriodic(MonotonicDuration::fromMSec(protocol::dynamic_node_id::Allocation::DEFAULT_REQUEST_PERIOD_MS));
return 0;
}