AP_DroneCAN: fix and clean up DNA server #27543
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Ensures the occupation mask doesn't get populated with junk if the magic is not valid.
The StorageManager read_block/write_block methods only return failure if an out of bounds access is performed. Assert statically that this does not happen. Also remove the now-impossible failed to add node state.
tridge
requested changes
Jul 16, 2024
Node IDs >= 128 don't exist, and IDs 126 and 127 are "reserved for network maintenance tools" according to the spec.
Slightly reduces flash usage and probably is clearer.
Replaces the check for a CRC of 0 with a check that the hwid is 0. Substantially reduces 1/256 chance that a particular node ID couldn't be stored.
Put documentation with each bitmask and use the object directly. Node ID range checks can be removed as the bitmask itself checks and we don't expect to trip them. Substantially cleans up the code.
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Performed the following tests with a Cube Orange and 3x MatekL431 node boards:
So I am confident that GPSes will continue to work and their IDs won't change. |
tridge
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Jul 17, 2024
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@bugobliterator has offered to review this PR (Sid is the original author of the code)
| uint8_t crc = crc_crc8(node_data.hwid_hash, sizeof(node_data.hwid_hash)); | ||
| if (crc == node_data.crc && node_data.crc != 0) { |
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I think we want to backport just this small fix (in minimal form) for 4.5.x
bugobliterator
requested changes
Jul 28, 2024
Actually, nevermind. Had a look through the StorageManager, we write to files on separate thread, and don't return error on io failures. So certainly logical to remove the runtime checks. |
bugobliterator
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Jul 28, 2024
tridge
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Jul 29, 2024
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Fixes the following issues:
Does not yet address the elephant in the room of multiple servers using the same storage. That will come next; this all makes that easier.
Tested on SITL and a Cube Orange on the bench using various configurations of AP_Periph nodes. Tested that the DNA database is preserved and that the DroneCAN GUI tool still works properly as well.