Adamg/fix

CanAutoNode/CanAutoNode.cpp

@@ -8,8 +8,6 @@
 #include <CanAutoNode.hpp>
 #include <cstring>
 
-
-
 CanAutoNode::~CanAutoNode() {
 
 }
@@ -44,9 +42,7 @@ bool CanAutoNode::IDRangesOverlap(IDRange a, IDRange b) {
  * @return Node represented by the bytes.
  */
 CanAutoNode::Node CanAutoNode::nodeFromMsg(const uint8_t *msg) {
-
 	return MsgToData<Node>(msg);
-
 }
 
 /* Converts a 32-bit integer into a byte sequence (big-endian).
@@ -62,10 +58,7 @@ void CanAutoNode::shift32to8(uint32_t in, uint8_t *out) {
  * @param msgout Pointer to output buffer. Must be as long as a Node struct.
  */
 void CanAutoNode::msgFromNode(Node node, uint8_t *msgout) {
-
 	memcpy(msgout,&node,sizeof(Node));
-
-
 }
 
 CanAutoNode::CanAutoNode() {
@@ -92,7 +85,6 @@ bool CanAutoNode::SendMessageToDaughterBoardByCANIDOffset(UniqueBoardID boardID,
 		}
 	}
 	return false;
-
 }
 
 /* Sends a message starting at a given CAN ID, regardless of which board has claimed it.
@@ -132,7 +124,6 @@ bool CanAutoNode::SendMessageToAllBoardsOfTypeByLogIndex(uint8_t boardType,
 		}
 	}
 	return foundOne;
-
 }
 
 #ifdef CANAUTONODEDEBUG
@@ -151,15 +142,12 @@ void CanAutoNode::PrintBoardID(CanAutoNode::UniqueBoardID id) {
  * @return true if successfully sent.
  */
 bool CanAutoNode::SendHeartbeat() {
-
 	HeartbeatInfo beat;
 	beat.senderBoardID = thisNode.uniqueID;
-
+	beat.dir = GetDir();
 	uint8_t msg[sizeof(HeartbeatInfo)] = {};
 	memcpy(msg,&beat,sizeof(msg));
-	return controller->SendByLogIndex(msg, HEARTBEAT_ID);
-	//return controller->SendByMsgID(msg, sizeof(msg), HEARTBEAT_ID);
-
+	return controller->SendByMsgID(msg, sizeof (msg), HEARTBEAT_CAN_ID);
 }
 
 /* Sends a message to a daughter board by a log index on that daughter board. Can be called from
@@ -177,7 +165,7 @@ bool CanAutoNode::SendMessageToDaughterByLogIndex(UniqueBoardID boardID,
 	for(uint16_t i = 0; i < nodesInNetwork; i++) {
 		const Node& thisDaughter = daughterNodes[i];
 		if(thisDaughter.uniqueID == boardID) {
-			return controller->SendByMsgID(msg, thisDaughter.logSizesInBytes[logIndex], thisDaughter.logOffsetsInCANIDs[logIndex]+thisDaughter.canIDRange.start);
+			return controller->SendByMsgID(msg, thisDaughter.logSizesInBytes[logIndex], thisDaughter.logOffsetsInCANIDs[logIndex]+thisDaughter.canIDRange.start+SEND_RECEIVE_ID_SPLIT_AMOUNT);
 		}
 	}
 	return false;
@@ -241,7 +229,6 @@ bool CanAutoNode::ReadMessageFromRXBuf(uint8_t logIndex, uint16_t logSize, uint8
 		memcpy(out,paddedOut,logSize);
 		return true;
 	}
-
 #ifdef CANAUTONODEDEBUG
 	//SOAR_PRINT("Buffer large enough, attempting read...\n");
 #endif
@@ -263,16 +250,13 @@ bool CanAutoNode::BoardExistsWithName(const char* name) {
 uint16_t CanAutoNode::GetNamesOfAllBoards(char(* outputArr)[MAX_NAME_STR_LEN], uint16_t outputArrayLen) {
 	uint16_t num = 0;
 	strncpy(outputArr[num++],thisNode.nodeName,MAX_NAME_STR_LEN);
-	//
 	for(uint16_t i = 0; i < nodesInNetwork; i++) {
 		strncpy(outputArr[num++],daughterNodes[i].nodeName,MAX_NAME_STR_LEN);
 		if(num >= outputArrayLen) {
 			break;
 		}
 	}
-
 	return num;
-
 }
 
 uint16_t CanAutoNode::GetIDsOfAllBoards(CanAutoNode::UniqueBoardID* outputArr, uint16_t outputArrayLen) {
@@ -284,9 +268,7 @@ uint16_t CanAutoNode::GetIDsOfAllBoards(CanAutoNode::UniqueBoardID* outputArr, u
 			break;
 		}
 	}
-
 	return num;
-
 }
 
 CanAutoNode::UniqueBoardID CanAutoNode::GetIDOfBoardWithName(const char* name) {
@@ -314,7 +296,6 @@ uint16_t CanAutoNode::GetNumberOfLogIndicesInBoard(UniqueBoardID board) {
 		}
 	}
 	return 0;
-
 }
 
 uint16_t CanAutoNode::GetSizeOfLogIndexInBoard(UniqueBoardID board, uint16_t logindex) {

CanAutoNode/CanAutoNode.hpp

@@ -12,27 +12,40 @@
  * Define this to enable debug prints across the driver. Uses SOAR_PRINT.
  */
 //#define CANAUTONODEDEBUG
+//#define PACK_NETWORKLEVEL_CAN_STRUCTS
+
+#ifdef CANAUTONODEDEBUG
+#include "SystemDefines.hpp"
+#endif
 
 #include "FDCan.h"
 #include <cstring>
 #include <random>
 
-constexpr uint32_t MAX_NODES_IN_NETWORK = 100;
-constexpr uint8_t MAX_LOG_TYPES_PER_NODE = 5;
-constexpr uint8_t MAX_NAME_STR_LEN = 20;
+constexpr uint32_t MAX_NODES_IN_NETWORK = 20;
+constexpr uint8_t MAX_LOG_TYPES_PER_NODE = 9;
+constexpr uint8_t MAX_NAME_STR_LEN = 10;
 constexpr uint8_t MAX_JOIN_ATTEMPTS = 8;
 // Max 2047 for 11-bit standard FDCAN, max 536,870,911 for extended FDCAN.
 // See transceiver and board capabilities before changing.
 constexpr uint16_t MAX_CAN_ID = 2047;
 
 // Reserved CAN IDs
-constexpr uint16_t JOIN_REQUEST_ID = 0;
-constexpr uint16_t ACK_ID = 1;
-constexpr uint16_t UPDATE_ID = 2;
-constexpr uint16_t KICK_REQUEST_ID = 3;
-constexpr uint16_t HEARTBEAT_ID = 4;
-constexpr uint16_t MAX_RESERVED_CAN_ID = 4; // Make sure to update if adding a new reserved ID
-
+constexpr uint16_t JOIN_REQUEST_CAN_ID = 0;
+constexpr uint16_t ACK_CAN_ID = 1;
+constexpr uint16_t UPDATE_CAN_ID = 2;
+constexpr uint16_t KICK_REQUEST_CAN_ID = 4;
+constexpr uint16_t HEARTBEAT_CAN_ID = 5;
+constexpr uint16_t MAX_RESERVED_CAN_ID = 5; // Make sure to update if adding a new reserved ID
+
+constexpr uint16_t JOIN_REQUEST_RLOG_INDEX = 0;
+constexpr uint16_t ACK_RLOG_INDEX = 1;
+constexpr uint16_t UPDATE_RLOG_INDEX = 2;
+constexpr uint16_t KICK_REQUEST_RLOG_INDEX = 3;
+constexpr uint16_t HEARTBEAT_RLOG_INDEX = 4;
+constexpr uint16_t MAX_RESERVED_RLOG_INDEX = 4; // Make sure to update if adding a new reserved ID
+
+constexpr uint16_t SEND_RECEIVE_ID_SPLIT_AMOUNT = 0;
 
 #ifdef CANAUTONODEDEBUG
 //#include "Task.hpp"
@@ -49,7 +62,6 @@ class CanAutoNode {
 	CanAutoNode(CanAutoNode &&other) = delete;
 	CanAutoNode& operator=(const CanAutoNode &other) = delete;
 
-
 	enum updateType {
 		CAN_UPDATE_DAUGHTER,
 		CAN_UPDATE_LAST_DAUGHTER,
@@ -70,7 +82,6 @@ class CanAutoNode {
 
 		bool operator==(const UniqueBoardID&) const = default;
 		bool operator!=(const UniqueBoardID&) const = default;
-
 	};
 
 	bool SendMessageToDaughterByLogIndex(UniqueBoardID boardID, uint8_t logIndex, const uint8_t* msg);
@@ -110,6 +121,9 @@ class CanAutoNode {
 		bool operator!=(const IDRange&) const = default;
 	};
 
+#ifdef PACK_NETWORKLEVEL_CAN_STRUCTS
+#pragma pack(push,1)
+#endif
 	struct Node {
 		IDRange canIDRange;
 		UniqueBoardID uniqueID = {0};
@@ -123,16 +137,20 @@ class CanAutoNode {
 
 		char nodeName[MAX_NAME_STR_LEN];
 
-		uint16_t startingLogIndexOnMotherboard = MAX_RESERVED_CAN_ID+1;
+		uint16_t startingLogIndexOnMotherboard = MAX_RESERVED_RLOG_INDEX+1;
 
 		bool operator==(const Node&) const = default;
 		bool operator!=(const Node&) const = default;
-
 	};
 
 	static_assert(sizeof(Node) <= 64, "Node entries must be at most 64 bytes large. Try reducing MAX_LOGS");
 
 	struct HeartbeatInfo {
+		enum DIRECTION {
+			INVAL,
+			FROM_MOTH,
+			TO_MOTH
+		} dir;
 		UniqueBoardID senderBoardID;
 	};
 
@@ -146,6 +164,10 @@ class CanAutoNode {
 		uint8_t logSizesInBytes[MAX_LOG_TYPES_PER_NODE];
 	};
 
+#ifdef PACK_NETWORKLEVEL_CAN_STRUCTS
+#pragma pack(pop)
+#endif
+
 	static_assert(sizeof(JoinRequest) <= 64, "Join request entries must be at most 64 bytes large. Try reducing MAX_LOGS");
 
 	FDCanController* controller = nullptr;
@@ -179,10 +201,11 @@ class CanAutoNode {
 
 	bool ReadMessageFromRXBuf(uint8_t logIndex, uint16_t logSize, uint8_t* out, uint16_t outLen);
 
+	virtual HeartbeatInfo::DIRECTION GetDir() const = 0;
+
 private:
 	CanAutoNode(const CanAutoNode &other) = delete;
 
-
 };
 
 #endif /* AUTONODE_CANAUTONODE_HPP_ */