How does libcacard implement automatic allocation of node ID?

YGQ · August 15, 2019, 8:52am

I currently use canardSetLocalNodeID to assign an ID, but I want to use dynamic allocation, as if I don’t have this feature in libcanard

pavel.kirienko · August 15, 2019, 11:45am

Libcanard does not contain any application-layer logic, so you’ll have to implement that yourself. Start from this demo app:

github.com

UAVCAN/libcanard/blob/master/tests/demo.c

/*
 * This demo application is distributed under the terms of CC0 (public domain dedication).
 * More info: https://creativecommons.org/publicdomain/zero/1.0/
 */

// This is needed to enable necessary declarations in sys/
#ifndef _GNU_SOURCE
# define _GNU_SOURCE
#endif

#include <canard.h>
#include <socketcan.h>      // CAN backend driver for SocketCAN, distributed with Libcanard

#include <stdio.h>
#include <stdlib.h>
#include <time.h>
#include <string.h>
#include <assert.h>
#include <errno.h>

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