info: expose new UUID (uid2)

integration_tests/info.cpp

@@ -65,6 +65,23 @@ TEST_F(SitlTest, Info)
             LogWarn() << "Product request result: " << Info::result_str(product_result.first);
         }
 
+        std::pair<Info::Result, Info::Identification> identification_result =
+            info->get_identification();
+
+        EXPECT_EQ(identification_result.first, Info::Result::SUCCESS);
+
+        if (identification_result.first == Info::Result::SUCCESS) {
+            std::cout << "Hardware UUID: " << identification_result.second.hardware_uuid;
+            for (unsigned j = 0; j < sizeof(identification_result.second.hardware_uuid); ++j) {
+                std::cout << std::hex << std::setfill('0') << std::setw(2)
+                          << int(identification_result.second.hardware_uuid[j]);
+            }
+            std::cout << std::endl;
+        } else {
+            LogWarn() << "Identification request result: "
+                      << Info::result_str(identification_result.first);
+        }
+
         std::this_thread::sleep_for(std::chrono::seconds(1));
     }
 }

plugins/info/include/plugins/info/info.h

@@ -81,15 +81,22 @@ class Info : public PluginBase {
         char product_name[32]; /**< @brief Name of product. */
     };
 
+    /**
+     * @brief Type containing identification.
+     */
+    struct Identification {
+        uint8_t hardware_uuid[18]; /**< @brief UUID of hardware. */
+    };
+
     /**
      * @brief Gets the UUID of the system.
      *
      * If possible this will be a unique identifier provided by hardware.
      *
      * @return a pair containing the result of the request and if successful,
-     * the UUID of the system.
+     * the identification information of the system.
      */
-    std::pair<Result, uint64_t> uuid() const;
+    std::pair<Result, Identification> get_identification() const;
 
     /**
      * @brief Get system version information.

plugins/info/info.cpp

@@ -7,9 +7,9 @@ Info::Info(System &system) : PluginBase(), _impl{new InfoImpl(system)} {}
 
 Info::~Info() {}
 
-std::pair<Info::Result, uint64_t> Info::uuid() const
+std::pair<Info::Result, Info::Identification> Info::get_identification() const
 {
-    return _impl->get_uuid();
+    return _impl->get_identification();
 }
 
 std::pair<Info::Result, Info::Version> Info::get_version() const

plugins/info/info_impl.cpp

@@ -1,4 +1,5 @@
 #include <functional>
+#include <cstring>
 #include "info_impl.h"
 #include "system.h"
 #include "global_include.h"
@@ -116,9 +117,28 @@ void InfoImpl::process_autopilot_version(const mavlink_message_t &message)
     const char *product_name = product_id_str(autopilot_version.product_id);
     STRNCPY(_product.product_name, product_name, sizeof(_product.product_name) - 1);
 
+    if (is_array_zero(autopilot_version.uid2, sizeof(autopilot_version.uid2))) {
+        std::memcpy(_identification.hardware_uuid,
+                    reinterpret_cast<uint8_t *>(&autopilot_version.uid),
+                    sizeof(autopilot_version.uid));
+    } else {
+        std::memcpy(
+            _identification.hardware_uuid, autopilot_version.uid2, sizeof(autopilot_version.uid2));
+    }
+
     _information_received = true;
 }
 
+bool InfoImpl::is_array_zero(const uint8_t *arr, size_t len)
+{
+    for (size_t i = 0; i < len; ++i) {
+        if (arr[i] != 0) {
+            return false;
+        }
+    }
+    return true;
+}
+
 void InfoImpl::translate_binary_to_str(uint8_t *binary,
                                        unsigned binary_len,
                                        char *str,
@@ -131,10 +151,12 @@ void InfoImpl::translate_binary_to_str(uint8_t *binary,
     }
 }
 
-std::pair<Info::Result, uint64_t> InfoImpl::get_uuid() const
+std::pair<Info::Result, Info::Identification> InfoImpl::get_identification() const
 {
-    // TODO: this should be processed in this plugin
-    return std::make_pair<>(Info::Result::SUCCESS, _parent->get_uuid());
+    std::lock_guard<std::mutex> lock(_mutex);
+    return std::make_pair<>((_information_received ? Info::Result::SUCCESS :
+                                                     Info::Result::INFORMATION_NOT_RECEIVED_YET),
+                            _identification);
 }
 
 std::pair<Info::Result, Info::Version> InfoImpl::get_version() const

plugins/info/info_impl.h

@@ -18,7 +18,7 @@ class InfoImpl : public PluginImplBase {
     void enable() override;
     void disable() override;
 
-    std::pair<Info::Result, uint64_t> get_uuid() const;
+    std::pair<Info::Result, Info::Identification> get_identification() const;
     std::pair<Info::Result, Info::Version> get_version() const;
     std::pair<Info::Result, Info::Product> get_product() const;
 
@@ -34,6 +34,7 @@ class InfoImpl : public PluginImplBase {
 
     Info::Version _version{};
     Info::Product _product{};
+    Info::Identification _identification{};
     bool _information_received{false};
 
     void *_call_every_cookie{nullptr};
@@ -43,6 +44,8 @@ class InfoImpl : public PluginImplBase {
 
     static void
     translate_binary_to_str(uint8_t *binary, unsigned binary_len, char *str, unsigned str_len);
+
+    static bool is_array_zero(const uint8_t *arr, size_t len);
 };
 
 } // namespace dronecode_sdk