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AP_DroneCAN: DNA Server: log duplicate nodes in CAND #26224

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AP_DroneCAN: DNA Server: log duplicate nodes in CAND #26224

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23 changes: 19 additions & 4 deletions libraries/AP_DroneCAN/AP_DroneCAN_DNA_Server.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -357,6 +357,7 @@ void AP_DroneCAN_DNA_Server::verify_nodes()
if (log_count != last_logging_count) {
last_logging_count = log_count;
logged.clearall();
logged_duplicate.clearall();
}
#endif

Expand Down Expand Up @@ -437,12 +438,27 @@ void AP_DroneCAN_DNA_Server::handleNodeInfo(const CanardRxTransfer& transfer, co
if (transfer.source_node_id > MAX_NODE_ID) {
return;
}

// Check if we have seen this node ID before
const bool seen_node_id = isNodeIDOccupied(transfer.source_node_id);

// Get node ID for this unique ID if it has been seen before
const uint8_t prev_node_id = getNodeIDForUniqueID(rsp.hardware_version.unique_id, 16);

// Unique ID for this node is the same as the one registered
const bool unique_id_match = transfer.source_node_id == prev_node_id;

/*
if we haven't logged this node then log it now
*/
#if HAL_LOGGING_ENABLED
if (!logged.get(transfer.source_node_id) && AP::logger().logging_started()) {
const bool duplicate_node = seen_node_id && !unique_id_match;
const bool log_duplicate = duplicate_node && !logged_duplicate.get(transfer.source_node_id);
if (AP::logger().logging_started() && (!logged.get(transfer.source_node_id) || log_duplicate)) {
logged.set(transfer.source_node_id);
if (duplicate_node) {
logged_duplicate.set(transfer.source_node_id);
}
uint64_t uid[2];
memcpy(uid, rsp.hardware_version.unique_id, sizeof(rsp.hardware_version.unique_id));
// @LoggerMessage: CAND
Expand All @@ -467,9 +483,9 @@ void AP_DroneCAN_DNA_Server::handleNodeInfo(const CanardRxTransfer& transfer, co
}
#endif

if (isNodeIDOccupied(transfer.source_node_id)) {
if (seen_node_id) {
//if node_id already registered, just verify if Unique ID matches as well
if (transfer.source_node_id == getNodeIDForUniqueID(rsp.hardware_version.unique_id, 16)) {
if (unique_id_match) {
if (transfer.source_node_id == curr_verifying_node) {
nodeInfo_resp_rcvd = true;
}
Expand All @@ -484,7 +500,6 @@ void AP_DroneCAN_DNA_Server::handleNodeInfo(const CanardRxTransfer& transfer, co
} else {
/* Node Id was not allocated by us, or during this boot, let's register this in our records
Check if we allocated this Node before */
uint8_t prev_node_id = getNodeIDForUniqueID(rsp.hardware_version.unique_id, 16);
if (prev_node_id != 255) {
//yes we did, remove this registration
freeNodeID(prev_node_id);
Expand Down
1 change: 1 addition & 0 deletions libraries/AP_DroneCAN/AP_DroneCAN_DNA_Server.h
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Original file line number Diff line number Diff line change
Expand Up @@ -40,6 +40,7 @@ class AP_DroneCAN_DNA_Server
Bitmask<128> verified_mask;
Bitmask<128> node_seen_mask;
Bitmask<128> logged;
Bitmask<128> logged_duplicate;
Bitmask<128> node_healthy_mask;

uint8_t last_logging_count;
Expand Down
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