int broadcastAllocationResponse(const UniqueID& unique_id, NodeID allocated_node_id)
{
Allocation msg;
msg.unique_id.resize(msg.unique_id.capacity());
copy(unique_id.begin(), unique_id.end(), msg.unique_id.begin());
msg.node_id = allocated_node_id.get();
trace(TraceAllocationResponse, msg.node_id);
return allocation_pub_.broadcast(msg);
}
void publishFollowupAllocationResponse()
{
Allocation msg;
msg.unique_id = current_unique_id_;
UAVCAN_ASSERT(msg.unique_id.size() < msg.unique_id.capacity());
UAVCAN_TRACE("AllocationRequestManager", "Intermediate response with %u bytes of unique ID",
unsigned(msg.unique_id.size()));
trace(TraceAllocationFollowupResponse, msg.unique_id.size());
const int res = allocation_pub_.broadcast(msg);
if (res < 0)
{
trace(TraceError, res);
allocation_pub_.getNode().registerInternalFailure("Dynamic allocation broadcast");
}
}