add node_id to cyphal init (#23)

RaccoonlabDev · Aug 3, 2024 · 8e62079 · 8e62079
1 parent 3f65047
commit 8e62079
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Showing 7 changed files with 9 additions and 8 deletions.
diff --git a/Cyphal/cyphal.cpp b/Cyphal/cyphal.cpp
@@ -23,12 +23,13 @@ static uint32_t getCurrentMicroseconds();
 
 O1HeapInstance* Cyphal::my_allocator;
 
-int Cyphal::init() {
+int Cyphal::init(uint8_t id) {
+    node_id = id;
+
     heartbeat_pub.msg.health.value = uavcan_node_Health_1_0_NOMINAL;
     heartbeat_pub.msg.mode.value = uavcan_node_Mode_1_0_OPERATIONAL;
     heartbeat_pub.msg.vendor_specific_status_code = 0;
 
-    node_id = static_cast<uint8_t>(paramsGetIntegerValue(IntParamsIndexes::PARAM_NODE_ID));
     if (node_id == 0 || node_id > 126) {
         node_id = 42;
     }

diff --git a/Cyphal/cyphal.hpp b/Cyphal/cyphal.hpp
@@ -36,7 +36,7 @@ class Cyphal {
               execute_cmd_response(this) {
         _instance = this;
     };
-    int init();
+    int init(uint8_t node_id);
     void process();
     int32_t push(CanardTransferMetadata* metadata, size_t payload_size, const uint8_t* payload);
     int8_t subscribe(CyphalSubscriber* sub_info, size_t size, CanardTransferKind kind);

diff --git a/Cyphal/params.yaml b/Cyphal/params.yaml
@@ -1,7 +1,7 @@
 uavcan.node.id:
   note: Defines a node-ID. Allowed values [0,127].
   type: Integer
-  enum: PARAM_NODE_ID
+  enum: PARAM_UAVCAN_NODE_ID
   flags: mutable
   default: 50
   min: 0

diff --git a/examples/ubuntu_minimal/main.cpp b/examples/ubuntu_minimal/main.cpp
@@ -16,7 +16,7 @@ uint32_t HAL_GetTick() {
 
 int main (int argc, char *argv[]) {
     cyphal::Cyphal cyphal;
-    int init_res = cyphal.init();
+    int init_res = cyphal.init(42);
     if (init_res < 0) {
         std::cout << "Error: ";
         switch (init_res) {

diff --git a/examples/ubuntu_minimal/params.hpp b/examples/ubuntu_minimal/params.hpp
@@ -8,7 +8,7 @@
 #include "storage.h"
 
 enum IntParamsIndexes : ParamIndex_t {
-    PARAM_NODE_ID,
+    PARAM_UAVCAN_NODE_ID,
 
     INTEGER_PARAMS_AMOUNT
 };

diff --git a/examples/ubuntu_publisher_example/application.cpp b/examples/ubuntu_publisher_example/application.cpp
@@ -36,7 +36,7 @@ int Application::init() {
     romInit(0, 1);
     paramsInit(IntParamsIndexes::INTEGER_PARAMS_AMOUNT, NUM_OF_STR_PARAMS, -1, 1);
     paramsLoad();
-    int init_res = cyphal.init();
+    int init_res = cyphal.init(42);
     if (init_res < 0) {
         std::cout << "Error: " << init_res << std::endl;
         return -1;

diff --git a/examples/ubuntu_publisher_example/params.hpp b/examples/ubuntu_publisher_example/params.hpp
@@ -8,7 +8,7 @@
 #include "storage.h"
 
 enum IntParamsIndexes : ParamIndex_t {
-    PARAM_NODE_ID,
+    PARAM_UAVCAN_NODE_ID,
     FEEDBACK,
 
     INTEGER_PARAMS_AMOUNT