From 1a8757e54b86b44d527f38d2c1b483f43e1a2a8d Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Mon, 6 Apr 2015 19:21:01 +0300
Subject: [PATCH] allowRogueTransfers() exposed in Publisher and Subscriber

---
 libuavcan/include/uavcan/node/generic_publisher.hpp  | 9 +++++++++
 libuavcan/include/uavcan/node/generic_subscriber.hpp | 9 +++++++++
 libuavcan/include/uavcan/node/publisher.hpp          | 1 +
 libuavcan/include/uavcan/node/subscriber.hpp         | 1 +
 4 files changed, 20 insertions(+)

diff --git a/libuavcan/include/uavcan/node/generic_publisher.hpp b/libuavcan/include/uavcan/node/generic_publisher.hpp
index aece082ddb..9b2f97bc90 100644
--- a/libuavcan/include/uavcan/node/generic_publisher.hpp
+++ b/libuavcan/include/uavcan/node/generic_publisher.hpp
@@ -60,6 +60,15 @@ public:
     MonotonicDuration getTxTimeout() const { return tx_timeout_; }
     void setTxTimeout(MonotonicDuration tx_timeout);
 
+    /**
+     * By default, attempt to send a transfer from passive mode will result in an error @ref ErrPassive.
+     * This option allows to enable sending rogue transfers from passive mode.
+     */
+    void allowRogueTransfers()
+    {
+        sender_->allowRogueTransfers();
+    }
+
     INode& getNode() const { return node_; }
 };
 
diff --git a/libuavcan/include/uavcan/node/generic_subscriber.hpp b/libuavcan/include/uavcan/node/generic_subscriber.hpp
index 3ec6b87f92..a5d81512b8 100644
--- a/libuavcan/include/uavcan/node/generic_subscriber.hpp
+++ b/libuavcan/include/uavcan/node/generic_subscriber.hpp
@@ -196,6 +196,15 @@ protected:
         return genericStart(&Dispatcher::registerServiceResponseListener);
     }
 
+    /**
+     * By default, rogue transfers will be ignored.
+     * This option allows to enable reception of rogue transfers.
+     */
+    void allowRogueTransfers()
+    {
+        forwarder_->allowRogueTransfers();
+    }
+
     /**
      * Terminate the subscription.
      * Dispatcher core will remove this instance from the subscribers list.
diff --git a/libuavcan/include/uavcan/node/publisher.hpp b/libuavcan/include/uavcan/node/publisher.hpp
index 6abb3bd533..9c684b29fc 100644
--- a/libuavcan/include/uavcan/node/publisher.hpp
+++ b/libuavcan/include/uavcan/node/publisher.hpp
@@ -87,6 +87,7 @@ public:
      */
     using BaseType::init;
 
+    using BaseType::allowRogueTransfers;
     using BaseType::getTransferSender;
     using BaseType::getMinTxTimeout;
     using BaseType::getMaxTxTimeout;
diff --git a/libuavcan/include/uavcan/node/subscriber.hpp b/libuavcan/include/uavcan/node/subscriber.hpp
index 1112a6abc0..1bb8b2c934 100644
--- a/libuavcan/include/uavcan/node/subscriber.hpp
+++ b/libuavcan/include/uavcan/node/subscriber.hpp
@@ -111,6 +111,7 @@ public:
         return BaseType::startAsMessageListener();
     }
 
+    using BaseType::allowRogueTransfers;
     using BaseType::stop;
     using BaseType::getFailureCount;
 };