Merge pull request #258 from Willmac16/main

Add an optional CRC param to NodeInfo & allow access to TransferMetadata in ServiceServer Callback

Author: aentinger

src/Node.cpp

@@ -78,6 +78,23 @@ NodeInfo Node::create_node_info(uint8_t const protocol_major, uint8_t const prot
                                           name);
 }
 
+NodeInfo Node::create_node_info(uint8_t const protocol_major, uint8_t const protocol_minor,
+                          uint8_t const hardware_major, uint8_t const hardware_minor,
+                          uint8_t const software_major, uint8_t const software_minor,
+                          uint64_t const software_vcs_revision_id,
+                          std::array<uint8_t, 16> const & unique_id,
+                          std::string const & name,
+                          uint64_t const image_crc)
+{
+  return std::make_shared<impl::NodeInfo>(*this,
+                                          protocol_major, protocol_minor,
+                                          hardware_major, hardware_minor,
+                                          software_major, software_minor,
+                                          software_vcs_revision_id,
+                                          unique_id,
+                                          name, image_crc);
+}
+
 void Node::spinSome()
 {
   processPortList();

src/Node.hpp

@@ -113,6 +113,14 @@ class Node
                             std::array<uint8_t, 16> const & unique_id,
                             std::string const & name);
 
+  NodeInfo create_node_info(uint8_t const protocol_major, uint8_t const protocol_minor,
+                            uint8_t const hardware_major, uint8_t const hardware_minor,
+                            uint8_t const software_major, uint8_t const software_minor,
+                            uint64_t const software_vcs_revision_id,
+                            std::array<uint8_t, 16> const & unique_id,
+                            std::string const & name,
+                            uint64_t const image_crc);
+
   /* Must be called from the application to process
    * all received CAN frames.
    */

src/ServiceServer.ipp

@@ -47,7 +47,12 @@ bool ServiceServer<T_REQ, T_RSP, OnRequestCb>::onTransferReceived(CanardRxTransf
   if (!req_rc) return false;
 
   /* Invoke the service callback and obtain the desired response. */
-  T_RSP const rsp = _on_request_cb(req);
+  T_RSP rsp;
+  if constexpr (std::is_invocable_v<OnRequestCb, T_REQ, TransferMetadata>) {
+    rsp = _on_request_cb(req, fillMetadata(transfer));
+  } else {
+    rsp = _on_request_cb(req);
+  }
 
   /* Serialize the response message. */
   std::array<uint8_t, T_RSP::_traits_::SerializationBufferSizeBytes> rsp_buf;

src/util/nodeinfo/NodeInfo.hpp

@@ -34,6 +34,29 @@ namespace impl
 class NodeInfo : public NodeInfoBase
 {
 public:
+  NodeInfo(Node & node_hdl,
+           uint8_t const protocol_major,
+           uint8_t const protocol_minor,
+           uint8_t const hardware_major,
+           uint8_t const hardware_minor,
+           uint8_t const software_major,
+           uint8_t const software_minor,
+           uint64_t const software_vcs_revision_id,
+           std::array<uint8_t, 16> const & unique_id,
+           std::string const & name,
+           std::uint64_t const software_image_crc)
+  : NodeInfo{node_hdl,
+             protocol_major, protocol_minor,
+             hardware_major, hardware_minor,
+             software_major, software_minor,
+             software_vcs_revision_id,
+             unique_id,
+             name}
+  {
+    std::array<std::uint64_t, 1> const crc = {software_image_crc};
+    std::copy(crc.cbegin(), crc.cend(), std::back_inserter(_node_info_rsp.software_image_crc));
+  }
+
   NodeInfo(Node & node_hdl,
            uint8_t const protocol_major,
            uint8_t const protocol_minor,