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pavel-kirienkopavel-kirienko
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move canard_kind
1 parent 977a1e4 commit 6a6d5c3

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4 files changed

+51
-53
lines changed

4 files changed

+51
-53
lines changed

‎libcanard/canard.c‎

Lines changed: 8 additions & 23 deletions
Original file line numberDiff line numberDiff line change
@@ -76,21 +76,6 @@ typedef unsigned char byte_t;
7676

7777
#define TREE_NULL (canard_tree_t){ NULL, { NULL, NULL }, 0 }
7878

79-
typedef enum kind_t
80-
{
81-
kind_1v1_message = 0,
82-
kind_1v0_message = 1,
83-
kind_1v0_response = 2,
84-
kind_1v0_request = 3,
85-
// v0.1
86-
kind_0v1_message = 4,
87-
kind_0v1_response = 5,
88-
kind_0v1_request = 6,
89-
} kind_t;
90-
static_assert(CANARD_KIND_COUNT == kind_0v1_request + 1, "");
91-
92-
static bool kind_is_v1(const kind_t kind) { return kind < kind_0v1_message; }
93-
9479
#define KILO 1000LL
9580
#define MEGA (KILO * KILO)
9681

@@ -1057,7 +1042,7 @@ bool canard_0v1_respond(canard_t* const self,
10571042
typedef struct
10581043
{
10591044
canard_prio_t priority;
1060-
kind_t kind;
1045+
canard_kind_t kind;
10611046

10621047
uint32_t port_id; // in v0 this stores the data type ID.
10631048

@@ -1127,17 +1112,17 @@ static byte_t rx_parse(const uint32_t can_id,
11271112
out_v1->dst = (byte_t)((can_id >> 7U) & CANARD_NODE_ID_MAX);
11281113
out_v1->port_id = (can_id >> 14U) & CANARD_SERVICE_ID_MAX;
11291114
const bool req = (can_id & (UINT32_C(1) << 24U)) != 0U;
1130-
out_v1->kind = req ? kind_1v0_request : kind_1v0_response;
1115+
out_v1->kind = req ? canard_kind_1v0_request : canard_kind_1v0_response;
11311116
} else {
11321117
out_v1->dst = CANARD_NODE_ID_ANONYMOUS;
11331118
const bool is_1v1 = (can_id & (UINT32_C(1) << 7U)) != 0U;
11341119
if (is_1v1) {
11351120
out_v1->port_id = (can_id >> 8U) & CANARD_SUBJECT_ID_MAX;
1136-
out_v1->kind = kind_1v1_message;
1121+
out_v1->kind = canard_kind_1v1_message;
11371122
} else {
11381123
is_v1 = is_v1 && !bit_23;
11391124
out_v1->port_id = (can_id >> 8U) & CANARD_SUBJECT_ID_MAX_1v0;
1140-
out_v1->kind = kind_1v0_message;
1125+
out_v1->kind = canard_kind_1v0_message;
11411126
if ((can_id & (UINT32_C(1) << 24U)) != 0U) {
11421127
out_v1->src = CANARD_NODE_ID_ANONYMOUS;
11431128
is_v1 = is_v1 && start && end; // anonymous can only be single-frame
@@ -1160,11 +1145,11 @@ static byte_t rx_parse(const uint32_t can_id,
11601145
out_v0->dst = dst;
11611146
out_v0->port_id = (can_id >> 16U) & 0xFFU;
11621147
const bool req = (can_id & (UINT32_C(1) << 15U)) != 0U;
1163-
out_v0->kind = req ? kind_0v1_request : kind_0v1_response;
1148+
out_v0->kind = req ? canard_kind_0v1_request : canard_kind_0v1_response;
11641149
} else {
11651150
out_v0->dst = CANARD_NODE_ID_ANONYMOUS;
11661151
out_v0->port_id = (can_id >> 8U) & 0xFFFFU;
1167-
out_v0->kind = kind_0v1_message;
1152+
out_v0->kind = canard_kind_0v1_message;
11681153
if (src == 0) {
11691154
out_v0->src = CANARD_NODE_ID_ANONYMOUS;
11701155
is_v0 = is_v0 && start && end; // anonymous can only be single-frame
@@ -1208,7 +1193,7 @@ static rx_slot_t* rx_slot_new(const canard_subscription_t* const sub,
12081193
slot->start_ts = start_ts;
12091194
slot->crc = sub->crc_seed;
12101195
slot->transfer_id = transfer_id & CANARD_TRANSFER_ID_MAX;
1211-
slot->expected_toggle = kind_is_v1(sub->kind) ? 1 : 0;
1196+
slot->expected_toggle = canard_kind_is_v1(sub->kind) ? 1 : 0;
12121197
slot->iface_index = iface_index & ((1U << IFACE_INDEX_BITS) - 1U);
12131198
}
12141199
return slot;
@@ -1421,7 +1406,7 @@ static bool rx_session_update(canard_subscription_t* const sub,
14211406
// Wrong protocol version must be rejected as early as possible to avoid wasting memory on unused states.
14221407
// The protocol version is only visible on start-of-transfer frames, but new sessions can only be created
14231408
// on start frames, so this is robust.
1424-
if (frame->start && (frame->toggle != kind_is_v1(sub->kind))) {
1409+
if (frame->start && (frame->toggle != canard_kind_is_v1(sub->kind))) {
14251410
return true; // Wrong protocol version is not a failure.
14261411
}
14271412

‎libcanard/canard.h‎

Lines changed: 15 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -80,9 +80,22 @@ extern "C"
8080
#define CANARD_MTU_CAN_CLASSIC 8U
8181
#define CANARD_MTU_CAN_FD 64U
8282

83-
/// Exposed only for type completeness.
83+
/// All valid transfer kind and version combinations.
84+
typedef enum canard_kind_t
85+
{
86+
canard_kind_1v1_message = 0,
87+
canard_kind_1v0_message = 1,
88+
canard_kind_1v0_response = 2,
89+
canard_kind_1v0_request = 3,
90+
// v0.1
91+
canard_kind_0v1_message = 4,
92+
canard_kind_0v1_response = 5,
93+
canard_kind_0v1_request = 6,
94+
} canard_kind_t;
8495
#define CANARD_KIND_COUNT 7
8596

97+
static bool canard_kind_is_v1(const canard_kind_t kind) { return kind < canard_kind_0v1_message; }
98+
8699
typedef struct canard_t canard_t;
87100

88101
/// Monotonic time in microseconds; the current time is never negative.
@@ -232,7 +245,7 @@ struct canard_subscription_t
232245
uint32_t port_id; ///< Represents subjects, services, and legacy message- and service type IDs.
233246
size_t extent; ///< Must not be altered after initialization!
234247
uint16_t crc_seed; ///< For v0 this is set explicitly, for v1 this is always 0xFFFF.
235-
uint_least8_t kind; ///< Which of the indexes in canard_rx_t this subscription is part of.
248+
canard_kind_t kind;
236249

237250
canard_filter_t filter; ///< Precomputed for quick acceptance filter configuration.
238251

‎tests/src/test_intrusive_rx.c‎

Lines changed: 27 additions & 27 deletions
Original file line numberDiff line numberDiff line change
@@ -43,7 +43,7 @@ static void test_rx_parse_v1_1_message_golden(void)
4343
const canard_bytes_t pl = { sizeof(d), d };
4444
const byte_t ret = rx_parse(0x0C04D2AAUL, pl, &v0, &v1);
4545
TEST_ASSERT_EQUAL_UINT8(2, ret);
46-
TEST_ASSERT_EQUAL_INT(kind_1v1_message, v1.kind);
46+
TEST_ASSERT_EQUAL_INT(canard_kind_1v1_message, v1.kind);
4747
TEST_ASSERT_EQUAL_UINT32(1234, v1.port_id);
4848
TEST_ASSERT_EQUAL_HEX8(0xFF, v1.dst);
4949
TEST_ASSERT_EQUAL_HEX8(42, v1.src);
@@ -60,7 +60,7 @@ static void test_rx_parse_v1_1_message_golden(void)
6060
const byte_t d[] = { 0xE0 }; // tid=0
6161
const canard_bytes_t pl = { sizeof(d), d };
6262
TEST_ASSERT_EQUAL_UINT8(2, rx_parse(0x00000080UL, pl, &v0, &v1));
63-
TEST_ASSERT_EQUAL_INT(kind_1v1_message, v1.kind);
63+
TEST_ASSERT_EQUAL_INT(canard_kind_1v1_message, v1.kind);
6464
TEST_ASSERT_EQUAL_UINT32(0, v1.port_id);
6565
TEST_ASSERT_EQUAL_HEX8(0xFF, v1.dst);
6666
TEST_ASSERT_EQUAL_HEX8(0, v1.src);
@@ -72,7 +72,7 @@ static void test_rx_parse_v1_1_message_golden(void)
7272
const byte_t d[] = { 0xFF }; // 0xE0|31 → tid=31
7373
const canard_bytes_t pl = { sizeof(d), d };
7474
TEST_ASSERT_EQUAL_UINT8(2, rx_parse(0x1DFFFFFFUL, pl, &v0, &v1));
75-
TEST_ASSERT_EQUAL_INT(kind_1v1_message, v1.kind);
75+
TEST_ASSERT_EQUAL_INT(canard_kind_1v1_message, v1.kind);
7676
TEST_ASSERT_EQUAL_UINT32(131071UL, v1.port_id);
7777
TEST_ASSERT_EQUAL_HEX8(0xFF, v1.dst);
7878
TEST_ASSERT_EQUAL_HEX8(127, v1.src);
@@ -93,7 +93,7 @@ static void test_rx_parse_v1_0_message_golden(void)
9393
const byte_t d[] = { 0xAA, 0xE5 }; // v1 single, tid=5
9494
const canard_bytes_t pl = { sizeof(d), d };
9595
TEST_ASSERT_EQUAL_UINT8(2, rx_parse(0x10602A0BUL, pl, &v0, &v1));
96-
TEST_ASSERT_EQUAL_INT(kind_1v0_message, v1.kind);
96+
TEST_ASSERT_EQUAL_INT(canard_kind_1v0_message, v1.kind);
9797
TEST_ASSERT_EQUAL_UINT32(42, v1.port_id);
9898
TEST_ASSERT_EQUAL_HEX8(0xFF, v1.dst);
9999
TEST_ASSERT_EQUAL_HEX8(11, v1.src);
@@ -104,7 +104,7 @@ static void test_rx_parse_v1_0_message_golden(void)
104104
const byte_t d[] = { 0xE0 };
105105
const canard_bytes_t pl = { sizeof(d), d };
106106
TEST_ASSERT_EQUAL_UINT8(2, rx_parse(0x007FFF01UL, pl, &v0, &v1));
107-
TEST_ASSERT_EQUAL_INT(kind_1v0_message, v1.kind);
107+
TEST_ASSERT_EQUAL_INT(canard_kind_1v0_message, v1.kind);
108108
TEST_ASSERT_EQUAL_UINT32(8191, v1.port_id);
109109
TEST_ASSERT_EQUAL_HEX8(1, v1.src);
110110
}
@@ -113,7 +113,7 @@ static void test_rx_parse_v1_0_message_golden(void)
113113
const byte_t d[] = { 0xE3 }; // v1 single, tid=3
114114
const canard_bytes_t pl = { sizeof(d), d };
115115
TEST_ASSERT_EQUAL_UINT8(2, rx_parse(0x09606455UL, pl, &v0, &v1));
116-
TEST_ASSERT_EQUAL_INT(kind_1v0_message, v1.kind);
116+
TEST_ASSERT_EQUAL_INT(canard_kind_1v0_message, v1.kind);
117117
TEST_ASSERT_EQUAL_UINT32(100, v1.port_id);
118118
TEST_ASSERT_EQUAL_HEX8(0xFF, v1.src); // anonymous
119119
TEST_ASSERT_EQUAL_INT(canard_prio_fast, v1.priority);
@@ -132,7 +132,7 @@ static void test_rx_parse_v1_0_service_golden(void)
132132
const byte_t d[] = { 0xBB, 0xE1 }; // v1 single, tid=1
133133
const canard_bytes_t pl = { sizeof(d), d };
134134
TEST_ASSERT_EQUAL_UINT8(2, rx_parse(0x136B8C0BUL, pl, &v0, &v1));
135-
TEST_ASSERT_EQUAL_INT(kind_1v0_request, v1.kind);
135+
TEST_ASSERT_EQUAL_INT(canard_kind_1v0_request, v1.kind);
136136
TEST_ASSERT_EQUAL_UINT32(430, v1.port_id);
137137
TEST_ASSERT_EQUAL_HEX8(24, v1.dst);
138138
TEST_ASSERT_EQUAL_HEX8(11, v1.src);
@@ -143,7 +143,7 @@ static void test_rx_parse_v1_0_service_golden(void)
143143
const byte_t d[] = { 0xE0 };
144144
const canard_bytes_t pl = { sizeof(d), d };
145145
TEST_ASSERT_EQUAL_UINT8(2, rx_parse(0x020000FFUL, pl, &v0, &v1));
146-
TEST_ASSERT_EQUAL_INT(kind_1v0_response, v1.kind);
146+
TEST_ASSERT_EQUAL_INT(canard_kind_1v0_response, v1.kind);
147147
TEST_ASSERT_EQUAL_UINT32(0, v1.port_id);
148148
TEST_ASSERT_EQUAL_HEX8(1, v1.dst);
149149
TEST_ASSERT_EQUAL_HEX8(127, v1.src);
@@ -154,7 +154,7 @@ static void test_rx_parse_v1_0_service_golden(void)
154154
const byte_t d[] = { 0xFF }; // v1 single, tid=31
155155
const canard_bytes_t pl = { sizeof(d), d };
156156
TEST_ASSERT_EQUAL_UINT8(2, rx_parse(0x1F7FFFFEUL, pl, &v0, &v1));
157-
TEST_ASSERT_EQUAL_INT(kind_1v0_request, v1.kind);
157+
TEST_ASSERT_EQUAL_INT(canard_kind_1v0_request, v1.kind);
158158
TEST_ASSERT_EQUAL_UINT32(511, v1.port_id);
159159
TEST_ASSERT_EQUAL_HEX8(127, v1.dst);
160160
TEST_ASSERT_EQUAL_HEX8(126, v1.src);
@@ -174,7 +174,7 @@ static void test_rx_parse_v0_message_golden(void)
174174
const byte_t d[] = { 0x55, 0xC2 }; // v0 single: SOT=1 EOT=1 toggle=0 tid=2
175175
const canard_bytes_t pl = { sizeof(d), d };
176176
TEST_ASSERT_EQUAL_UINT8(1, rx_parse(0x13040A01UL, pl, &v0, &v1));
177-
TEST_ASSERT_EQUAL_INT(kind_0v1_message, v0.kind);
177+
TEST_ASSERT_EQUAL_INT(canard_kind_0v1_message, v0.kind);
178178
TEST_ASSERT_EQUAL_UINT32(0x040A, v0.port_id);
179179
TEST_ASSERT_EQUAL_HEX8(0xFF, v0.dst);
180180
TEST_ASSERT_EQUAL_HEX8(1, v0.src);
@@ -185,7 +185,7 @@ static void test_rx_parse_v0_message_golden(void)
185185
const byte_t d[] = { 0xC0 }; // v0 single, tid=0
186186
const canard_bytes_t pl = { sizeof(d), d };
187187
TEST_ASSERT_EQUAL_UINT8(1, rx_parse(0x13040A00UL, pl, &v0, &v1));
188-
TEST_ASSERT_EQUAL_INT(kind_0v1_message, v0.kind);
188+
TEST_ASSERT_EQUAL_INT(canard_kind_0v1_message, v0.kind);
189189
TEST_ASSERT_EQUAL_UINT32(0x040A, v0.port_id);
190190
TEST_ASSERT_EQUAL_HEX8(0xFF, v0.src); // anonymous
191191
}
@@ -194,7 +194,7 @@ static void test_rx_parse_v0_message_golden(void)
194194
const byte_t d[] = { 0xDF }; // v0 single: 0xC0|31, tid=31
195195
const canard_bytes_t pl = { sizeof(d), d };
196196
TEST_ASSERT_EQUAL_UINT8(1, rx_parse(0x1FFFFF7FUL, pl, &v0, &v1));
197-
TEST_ASSERT_EQUAL_INT(kind_0v1_message, v0.kind);
197+
TEST_ASSERT_EQUAL_INT(canard_kind_0v1_message, v0.kind);
198198
TEST_ASSERT_EQUAL_UINT32(0xFFFF, v0.port_id);
199199
TEST_ASSERT_EQUAL_HEX8(127, v0.src);
200200
TEST_ASSERT_EQUAL_INT(canard_prio_optional, v0.priority);
@@ -213,7 +213,7 @@ static void test_rx_parse_v0_service_golden(void)
213213
const byte_t d[] = { 0x42, 0xC4 }; // v0 single, tid=4
214214
const canard_bytes_t pl = { sizeof(d), d };
215215
TEST_ASSERT_EQUAL_UINT8(1, rx_parse(0x1337988BUL, pl, &v0, &v1));
216-
TEST_ASSERT_EQUAL_INT(kind_0v1_request, v0.kind);
216+
TEST_ASSERT_EQUAL_INT(canard_kind_0v1_request, v0.kind);
217217
TEST_ASSERT_EQUAL_UINT32(0x37, v0.port_id);
218218
TEST_ASSERT_EQUAL_HEX8(24, v0.dst);
219219
TEST_ASSERT_EQUAL_HEX8(11, v0.src);
@@ -224,7 +224,7 @@ static void test_rx_parse_v0_service_golden(void)
224224
const byte_t d[] = { 0xC0 }; // v0 single, tid=0
225225
const canard_bytes_t pl = { sizeof(d), d };
226226
TEST_ASSERT_EQUAL_UINT8(1, rx_parse(0x03010181UL, pl, &v0, &v1));
227-
TEST_ASSERT_EQUAL_INT(kind_0v1_response, v0.kind);
227+
TEST_ASSERT_EQUAL_INT(canard_kind_0v1_response, v0.kind);
228228
TEST_ASSERT_EQUAL_UINT32(1, v0.port_id);
229229
TEST_ASSERT_EQUAL_HEX8(1, v0.dst);
230230
TEST_ASSERT_EQUAL_HEX8(1, v0.src);
@@ -471,11 +471,11 @@ static void test_rx_parse_cross_version_ambiguity(void)
471471
const byte_t ret = rx_parse(0x0C04D2AAUL, pl, &v0, &v1);
472472
TEST_ASSERT_EQUAL_UINT8(3, ret);
473473
// v1: v1.1 message, subject=1234, src=42
474-
TEST_ASSERT_EQUAL_INT(kind_1v1_message, v1.kind);
474+
TEST_ASSERT_EQUAL_INT(canard_kind_1v1_message, v1.kind);
475475
TEST_ASSERT_EQUAL_UINT32(1234, v1.port_id);
476476
TEST_ASSERT_EQUAL_HEX8(42, v1.src);
477477
// v0: service request, type_id=4, dst=82, src=42
478-
TEST_ASSERT_EQUAL_INT(kind_0v1_request, v0.kind);
478+
TEST_ASSERT_EQUAL_INT(canard_kind_0v1_request, v0.kind);
479479
TEST_ASSERT_EQUAL_UINT32(4, v0.port_id);
480480
TEST_ASSERT_EQUAL_HEX8(82, v0.dst);
481481
TEST_ASSERT_EQUAL_HEX8(42, v0.src);
@@ -486,7 +486,7 @@ static void test_rx_parse_cross_version_ambiguity(void)
486486
const canard_bytes_t pl = { sizeof(d), d };
487487
const byte_t ret = rx_parse(0x1FFFFFFFUL, pl, &v0, &v1);
488488
TEST_ASSERT_EQUAL_UINT8(1, ret);
489-
TEST_ASSERT_EQUAL_INT(kind_0v1_request, v0.kind);
489+
TEST_ASSERT_EQUAL_INT(canard_kind_0v1_request, v0.kind);
490490
TEST_ASSERT_EQUAL_UINT32(0xFF, v0.port_id);
491491
TEST_ASSERT_EQUAL_HEX8(127, v0.dst);
492492
TEST_ASSERT_EQUAL_HEX8(127, v0.src);
@@ -499,7 +499,7 @@ static void test_rx_parse_cross_version_ambiguity(void)
499499
const byte_t ret = rx_parse(0x00000000UL, pl, &v0, &v1);
500500
TEST_ASSERT_EQUAL_UINT8(2, ret); // v1 only; v0 anonymous rejected
501501
// v1: v1.0 message (bit7=0), port_id=0, src=0
502-
TEST_ASSERT_EQUAL_INT(kind_1v0_message, v1.kind);
502+
TEST_ASSERT_EQUAL_INT(canard_kind_1v0_message, v1.kind);
503503
TEST_ASSERT_EQUAL_UINT32(0, v1.port_id);
504504
TEST_ASSERT_EQUAL_HEX8(0, v1.src);
505505
}
@@ -517,7 +517,7 @@ static void test_rx_parse_bit_field_boundaries(void)
517517
const byte_t d[] = { 0xE0 };
518518
const canard_bytes_t pl = { sizeof(d), d };
519519
TEST_ASSERT_EQUAL_UINT8(2, rx_parse(0x027FC000UL, pl, &v0, &v1));
520-
TEST_ASSERT_EQUAL_INT(kind_1v0_response, v1.kind);
520+
TEST_ASSERT_EQUAL_INT(canard_kind_1v0_response, v1.kind);
521521
TEST_ASSERT_EQUAL_UINT32(511, v1.port_id);
522522
TEST_ASSERT_EQUAL_HEX8(0, v1.dst);
523523
TEST_ASSERT_EQUAL_HEX8(0, v1.src);
@@ -528,7 +528,7 @@ static void test_rx_parse_bit_field_boundaries(void)
528528
const byte_t d[] = { 0xE0 };
529529
const canard_bytes_t pl = { sizeof(d), d };
530530
TEST_ASSERT_EQUAL_UINT8(2, rx_parse(0x02003F80UL, pl, &v0, &v1));
531-
TEST_ASSERT_EQUAL_INT(kind_1v0_response, v1.kind);
531+
TEST_ASSERT_EQUAL_INT(canard_kind_1v0_response, v1.kind);
532532
TEST_ASSERT_EQUAL_UINT32(0, v1.port_id);
533533
TEST_ASSERT_EQUAL_HEX8(127, v1.dst);
534534
TEST_ASSERT_EQUAL_HEX8(0, v1.src);
@@ -539,7 +539,7 @@ static void test_rx_parse_bit_field_boundaries(void)
539539
const byte_t d[] = { 0xC0 }; // v0 single
540540
const canard_bytes_t pl = { sizeof(d), d };
541541
TEST_ASSERT_EQUAL_UINT8(1, rx_parse(0x03FF0181UL, pl, &v0, &v1));
542-
TEST_ASSERT_EQUAL_INT(kind_0v1_response, v0.kind); // req=0
542+
TEST_ASSERT_EQUAL_INT(canard_kind_0v1_response, v0.kind); // req=0
543543
TEST_ASSERT_EQUAL_UINT32(0xFF, v0.port_id);
544544
TEST_ASSERT_EQUAL_HEX8(1, v0.dst);
545545
TEST_ASSERT_EQUAL_HEX8(1, v0.src);
@@ -559,7 +559,7 @@ static void test_rx_parse_v1_1_accepts_bit23(void)
559559
const canard_bytes_t pl = { sizeof(d), d };
560560
const byte_t ret = rx_parse(0x01800080UL, pl, &v0, &v1);
561561
TEST_ASSERT_EQUAL_UINT8(2, ret); // accepted despite bit 23
562-
TEST_ASSERT_EQUAL_INT(kind_1v1_message, v1.kind);
562+
TEST_ASSERT_EQUAL_INT(canard_kind_1v1_message, v1.kind);
563563
TEST_ASSERT_EQUAL_UINT32(0x18000UL, v1.port_id);
564564
}
565565
// Max subject 0x1FFFF also sets bit 23.
@@ -569,7 +569,7 @@ static void test_rx_parse_v1_1_accepts_bit23(void)
569569
const canard_bytes_t pl = { sizeof(d), d };
570570
const byte_t ret = rx_parse(0x01FFFF80UL, pl, &v0, &v1);
571571
TEST_ASSERT_EQUAL_UINT8(2, ret);
572-
TEST_ASSERT_EQUAL_INT(kind_1v1_message, v1.kind);
572+
TEST_ASSERT_EQUAL_INT(canard_kind_1v1_message, v1.kind);
573573
TEST_ASSERT_EQUAL_UINT32(0x1FFFFUL, v1.port_id);
574574
}
575575
}
@@ -584,11 +584,11 @@ static void test_rx_parse_v1_0_message_ignores_reserved_bits_22_21(void)
584584
const canard_bytes_t pl = { sizeof(d), d };
585585
// bits 22:21 = 00: CAN ID = (0<<26)|(0<<21)|(42<<8)|1 = 0x00002A01
586586
rx_parse(0x00002A01UL, pl, &v0, &v1);
587-
TEST_ASSERT_EQUAL_INT(kind_1v0_message, v1.kind);
587+
TEST_ASSERT_EQUAL_INT(canard_kind_1v0_message, v1.kind);
588588
TEST_ASSERT_EQUAL_UINT32(42, v1.port_id);
589589
// bits 22:21 = 11: CAN ID = (0<<26)|(3<<21)|(42<<8)|1 = 0x00602A01
590590
rx_parse(0x00602A01UL, pl, &v0, &v1);
591-
TEST_ASSERT_EQUAL_INT(kind_1v0_message, v1.kind);
591+
TEST_ASSERT_EQUAL_INT(canard_kind_1v0_message, v1.kind);
592592
TEST_ASSERT_EQUAL_UINT32(42, v1.port_id); // same despite different reserved bits
593593
}
594594

@@ -606,7 +606,7 @@ static void test_rx_parse_non_first_dual_output(void)
606606
TEST_ASSERT_EQUAL_UINT8(3, ret);
607607

608608
// v1 output fully populated: v1.1 message, subject=1234, src=42.
609-
TEST_ASSERT_EQUAL_INT(kind_1v1_message, v1.kind);
609+
TEST_ASSERT_EQUAL_INT(canard_kind_1v1_message, v1.kind);
610610
TEST_ASSERT_EQUAL_UINT32(1234, v1.port_id);
611611
TEST_ASSERT_EQUAL_HEX8(0xFF, v1.dst);
612612
TEST_ASSERT_EQUAL_HEX8(42, v1.src);
@@ -619,7 +619,7 @@ static void test_rx_parse_non_first_dual_output(void)
619619
TEST_ASSERT_EQUAL_PTR(d, v1.payload.data);
620620

621621
// v0 output fully populated: v0 service request, type_id=4, dst=82, src=42.
622-
TEST_ASSERT_EQUAL_INT(kind_0v1_request, v0.kind);
622+
TEST_ASSERT_EQUAL_INT(canard_kind_0v1_request, v0.kind);
623623
TEST_ASSERT_EQUAL_UINT32(4, v0.port_id);
624624
TEST_ASSERT_EQUAL_HEX8(82, v0.dst);
625625
TEST_ASSERT_EQUAL_HEX8(42, v0.src);

‎tests/src/test_intrusive_rx_admission.c‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -40,7 +40,7 @@ static void fixture_init(fixture_t* const f, const canard_us_t tid_timeout)
4040
f->sub.owner = &f->canard;
4141
f->sub.transfer_id_timeout = tid_timeout;
4242
f->sub.extent = 64;
43-
f->sub.kind = kind_1v1_message;
43+
f->sub.kind = canard_kind_1v1_message;
4444
f->sub.crc_seed = CRC_INITIAL;
4545
f->ses.owner = &f->sub;
4646
f->ses.last_admission_ts = BIG_BANG;

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