Struct canadensis_data_types::uavcan::pnp::cluster::discovery_1_0::Discovery

pub struct Discovery {
    pub configured_cluster_size: u8,
    pub known_nodes: Vec<ID, 5>,
}

uavcan.pnp.cluster.Discovery.1.0

Size ranges from 2 to 12 bytes

This message is used by redundant allocators to find each other’s node-ID. Please refer to the type AppendEntries for details.

An allocator should stop publishing this message as soon as it has discovered all other allocators in the cluster.

An exception applies: when an allocator receives a Discovery message where the list of known nodes is incomplete (i.e. len(known_nodes) < configured_cluster_size), it shall publish a Discovery message once. This condition allows other allocators to quickly re-discover the cluster after a restart.

Fields

configured_cluster_size: u8

The number of allocators in the cluster as configured on the sender. This value shall be the same across all allocators.

saturated uint3

Always aligned, size 3 bits

known_nodes: Vec<ID, 5>

Node-IDs of the allocators that are known to the publishing allocator, including the publishing allocator itself.

uavcan.node.ID.1.0[<=5]

Always aligned, size ranges from 0 to 80 bits

Implementations

impl Discovery

pub const BROADCASTING_PERIOD: u8 = 1u8

[second] This message should be broadcasted by the allocator at this interval until all other allocators are discovered.

pub const MAX_CLUSTER_SIZE: u8 = 5u8

The redundant allocator cluster cannot contain more than 5 allocators.

Trait Implementations

impl DataType for Discovery

const EXTENT_BYTES: Option<u32> = _

This type is delimited with an extent of 96 bytes.

impl Deserialize for Discovery

fn deserialize(cursor: &mut ReadCursor<'_>) -> Result<Self, DeserializeError>where Self: Sized,

Deserializes a value and returns it

fn deserialize_from_bytes(bytes: &[u8]) -> Result<Self, DeserializeError>where Self: Sized,

A convenience function that creates a cursor around the provided bytes and calls deserialize

impl Serialize for Discovery

fn size_bits(&self) -> usize

Returns the size of the encoded form of this value, in bits

fn serialize(&self, cursor: &mut WriteCursor<'_>)

Serializes this value into a buffer

fn serialize_to_bytes(&self, bytes: &mut [u8])

A convenience function that creates a cursor around the provided bytes and calls serialize

impl Message for Discovery