def _on_timer(self) -> None:
self._restart_timer()
if self.get_result() is not None:
self.close()
return
msg: typing.Any = None
try:
if self._presentation.transport.protocol_parameters.mtu > self._MTU_THRESHOLD:
msg = NodeIDAllocationData_2(node_id=ID(
self._preferred_node_id),
unique_id=self._local_unique_id)
else:
msg = NodeIDAllocationData_1(
unique_id_hash=_make_pseudo_unique_id(
self._local_unique_id))
if self._pub is None or self._pub.dtype != type(msg):
if self._pub is not None:
self._pub.close()
self._pub = self._presentation.make_publisher_with_fixed_subject_id(
type(msg))
self._pub.priority = self.DEFAULT_PRIORITY
_logger.debug('Publishing allocation request %s', msg)
self._pub.publish_soon(msg)
except Exception as ex:
_logger.exception(f'Could not send allocation request {msg}: {ex}')
def _respond_v1(self, priority: pyuavcan.transport.Priority,
unique_id_hash: int, allocated_node_id: int) -> None:
msg = NodeIDAllocationData_1(unique_id_hash=unique_id_hash,
allocated_node_id=[ID(allocated_node_id)])
_logger.info('Publishing allocation response v1: %s', msg)
self._pub1.priority = priority
self._pub1.publish_soon(msg)
def _respond_v2(self, priority: pyuavcan.transport.Priority, unique_id: bytes, allocated_node_id: int) -> None:
msg = NodeIDAllocationData_2(
node_id=ID(allocated_node_id),
unique_id=unique_id,
)
_logger.info("Publishing allocation response v2: %s", msg)
self._pub2.priority = priority
self._pub2.publish_soon(msg)