fixed examples

Author: tridge

canard/tests/canard_interface.cpp

@@ -120,7 +120,7 @@ bool CanardInterface::shouldAcceptTransfer(const CanardInstance* ins,
     (void)transfer_type;
     (void)source_node_id;
     CanardInterface* iface = (CanardInterface*) ins->user_reference;
-    return iface->accept_message(data_type_id, *out_data_type_signature);
+    return iface->accept_message(data_type_id, transfer_type, *out_data_type_signature);
 }
 
 void CanardTestNetwork::route_frame(CanardTestInterface *send_iface, const CanardCANFrame &frame, uint64_t timestamp_usec) {

canard/tests/cxx_test_interface.cpp

@@ -2,7 +2,8 @@
 
 using namespace Canard;
 
-void TestNetwork::route_msg(CoreTestInterface *send_iface, uint8_t source_node_id, uint8_t destination_node_id, Transfer transfer) {
+void TestNetwork::route_msg(CoreTestInterface *send_iface, uint8_t source_node_id, uint8_t destination_node_id,
+			    Transfer transfer, CanardTransferType transfer_type) {
     (void)destination_node_id;
     // prepare CanardRxTransfer
     CanardRxTransfer rx_transfer {};
@@ -20,7 +21,7 @@ void TestNetwork::route_msg(CoreTestInterface *send_iface, uint8_t source_node_i
     // send to all interfaces
     for (auto iface : ifaces) {
         if (iface != send_iface && iface != nullptr) {
-            iface->handle_transfer(rx_transfer);
+	    iface->handle_transfer(rx_transfer, transfer_type);
         }
     }
 }
@@ -30,7 +31,7 @@ void TestNetwork::route_msg(CoreTestInterface *send_iface, uint8_t source_node_i
 /// @return true if message was added to the queue
 bool CoreTestInterface::broadcast(const Transfer &bcast_transfer) {
     // call network router
-    TestNetwork::get_network().route_msg(this, node_id, 255, bcast_transfer);
+    TestNetwork::get_network().route_msg(this, node_id, 255, bcast_transfer, CanardTransferTypeBroadcast);
     return true;
 }
 
@@ -40,7 +41,7 @@ bool CoreTestInterface::broadcast(const Transfer &bcast_transfer) {
 /// @return true if request was added to the queue
 bool CoreTestInterface::request(uint8_t destination_node_id, const Transfer &req_transfer) {
     // call network router
-    TestNetwork::get_network().route_msg(this, node_id, destination_node_id, req_transfer);
+    TestNetwork::get_network().route_msg(this, node_id, destination_node_id, req_transfer, CanardTransferTypeRequest);
     return true;
 }
 
@@ -50,7 +51,7 @@ bool CoreTestInterface::request(uint8_t destination_node_id, const Transfer &req
 /// @return true if response was added to the queue
 bool CoreTestInterface::respond(uint8_t destination_node_id, const Transfer &res_transfer) {
     // call network router
-    TestNetwork::get_network().route_msg(this, node_id, destination_node_id, res_transfer);
+    TestNetwork::get_network().route_msg(this, node_id, destination_node_id, res_transfer, CanardTransferTypeResponse);
     return true;
 }
 
@@ -60,10 +61,10 @@ void CoreTestInterface::set_node_id(uint8_t _node_id) {
     node_id = _node_id;
 }
 
-void CoreTestInterface::handle_transfer(CanardRxTransfer &transfer) {
+void CoreTestInterface::handle_transfer(CanardRxTransfer &transfer, CanardTransferType transfer_type) {
     uint64_t signature = 0;
     // check if message should be accepted
-    if (accept_message(transfer.data_type_id, signature)) {
+    if (accept_message(transfer.data_type_id, transfer_type, signature)) {
         // call message handler
         handle_message(transfer);
     }

canard/tests/cxx_test_interface.h

@@ -10,7 +10,7 @@ class TestNetwork {
 public:
     static constexpr int N = 10;
     TestNetwork() {}
-    void route_msg(CoreTestInterface *send_iface, uint8_t source_node_id, uint8_t destination_node_id, Transfer transfer);
+    void route_msg(CoreTestInterface *send_iface, uint8_t source_node_id, uint8_t destination_node_id, Transfer transfer, CanardTransferType transfer_type);
     TestNetwork(const TestNetwork&) = delete;
     TestNetwork& operator=(const TestNetwork&) = delete;
 
@@ -61,7 +61,7 @@ class CoreTestInterface : public Interface {
     /// @return node id
     uint8_t get_node_id() const override { return node_id; }
 
-    void handle_transfer(CanardRxTransfer &transfer);
+    void handle_transfer(CanardRxTransfer &transfer, CanardTransferType transfer_type);
 
     void free() {
         // free transfer ids

examples/ESCNode_C++/esc_node.cpp

@@ -585,7 +585,7 @@ bool CanardInterface::shouldAcceptTransfer(const CanardInstance* ins,
                                    uint8_t source_node_id)
 {
     CanardInterface* iface = (CanardInterface*)ins->user_reference;
-    return iface->accept_message(data_type_id, *out_data_type_signature);
+    return iface->accept_message(data_type_id, transfer_type, *out_data_type_signature);
 }
 
 /*