Minor notes from the quiet office

JediJeremy / libuavesp

UAVCAN library for Espressif microcontrollers. (Arduino SDK)

MIT License

15 stars 5 forks source link

Minor notes from the quiet office #1

Open pavel-kirienko opened 4 years ago

pavel-kirienko commented 4 years ago

Hey Jeremy! Quite some work you've done here, impressive.

[ ] I noticed a minor typo in the README where you mistype DSDL as DTDL (it's Data Structure Description Language).
[ ] Your musings on service design might benefit from a reference to our recently-published chapter Interface Design Guidelines, and the chapter might benefit from your feedback -- you seem to care about architectural nuance just like we do.
[ ] I wonder if we should set up a section on the forum listing third-party UAVCAN implementations to create visibility?

thirtytwobits commented 4 years ago

Please note that there were some late-breaking changes to the specification that are important. Specifically, we've fixed a problem with endianness in the serialized representation. We've also decided to always byte-align the tag value and array length for tagged unions and variable length arrays. This latter is a disabling of an optimization that we may allow, optionally, in a future revision (i.e. v1.x or greater) but for now it makes things far easier to just waste a few bits here and always make these multiples of 8. We're working on updates to the specification now. I'll post again when this is available.

thirtytwobits commented 4 years ago

Pavel has released our fixes. Sorry for any disruption. These were late finds from the first uses to try Alpha so we don't expect anything as disruptive before v1.0 rolls into beta or whatever Pavel decides for a maturity-level scheme.

https://uavcan.org/specification/UAVCAN_Specification_v1.0-alpha.pdf