void handleGetNodeInfoResponse(const ServiceCallResult<protocol::GetNodeInfo>& result)
{
if (result.isSuccessful())
{
UAVCAN_TRACE("dynamic_node_id_server::NodeDiscoverer", "GetNodeInfo response from %d",
int(result.getCallID().server_node_id.get()));
finalizeNodeDiscovery(&result.getResponse().hardware_version.unique_id, result.getCallID().server_node_id);
}
else
{
trace(TraceDiscoveryGetNodeInfoFailure, result.getCallID().server_node_id.get());
NodeData* const data = node_map_.access(result.getCallID().server_node_id);
if (data == NULL)
{
return; // Probably it is a known node now
}
UAVCAN_TRACE("dynamic_node_id_server::NodeDiscoverer",
"GetNodeInfo request to %d has timed out, %d attempts",
int(result.getCallID().server_node_id.get()), int(data->num_get_node_info_attempts));
data->num_get_node_info_attempts++;
if (data->num_get_node_info_attempts >= MaxAttemptsToGetNodeInfo)
{
finalizeNodeDiscovery(NULL, result.getCallID().server_node_id);
// Warning: data pointer is invalidated now
}
}
}
void handleBeginFirmwareUpdateResponse(const ServiceCallResult<protocol::file::BeginFirmwareUpdate>& result)
{
if (!result.isSuccessful())
{
UAVCAN_TRACE("FirmwareUpdateTrigger", "Request to %d has timed out, will retry",
int(result.getCallID().server_node_id.get()));
return;
}
FirmwareFilePath* const old_path = pending_nodes_.access(result.getCallID().server_node_id);
if (old_path == UAVCAN_NULLPTR)
{
// The entry has been removed, assuming that it's not needed anymore
return;
}
const bool confirmed =
result.getResponse().error == protocol::file::BeginFirmwareUpdate::Response::ERROR_OK ||
result.getResponse().error == protocol::file::BeginFirmwareUpdate::Response::ERROR_IN_PROGRESS;
if (confirmed)
{
UAVCAN_TRACE("FirmwareUpdateTrigger", "Node %d confirmed the update request",
int(result.getCallID().server_node_id.get()));
pending_nodes_.remove(result.getCallID().server_node_id);
checker_.handleFirmwareUpdateConfirmation(result.getCallID().server_node_id, result.getResponse());
}
else
{
UAVCAN_ASSERT(old_path != UAVCAN_NULLPTR);
UAVCAN_ASSERT(TimerBase::isRunning());
// We won't have to call trySetPendingNode(), because we'll directly update the old path via the pointer
const bool update_needed =
checker_.shouldRetryFirmwareUpdate(result.getCallID().server_node_id, result.getResponse(), *old_path);
if (!update_needed)
{
UAVCAN_TRACE("FirmwareUpdateTrigger", "Node %d does not need retry",
int(result.getCallID().server_node_id.get()));
pending_nodes_.remove(result.getCallID().server_node_id);
}
}
}
void handleGetNodeInfoResponse(const ServiceCallResult<protocol::GetNodeInfo>& result)
{
Entry& entry = getEntry(result.getCallID().server_node_id);
if (result.isSuccessful())
{
/*
* Updating the uptime here allows to properly handle a corner case where the service response arrives
* after the device has restarted and published its new NodeStatus (although it's unlikely to happen).
*/
entry.uptime_sec = result.getResponse().status.uptime_sec;
entry.request_needed = false;
listeners_.forEach(NodeInfoRetrievedHandlerCaller(result.getCallID().server_node_id,
result.getResponse()));
}
else
{
if (num_attempts_ != UnlimitedRequestAttempts)
{
entry.num_attempts_made++;
if (entry.num_attempts_made >= num_attempts_)
{
entry.request_needed = false;
listeners_.forEach(GenericHandlerCaller<NodeID>(&INodeInfoListener::handleNodeInfoUnavailable,
result.getCallID().server_node_id));
}
}
}
}
