All unit tests compile, but crash. This is the most horrifying commit I've ever made.

libuavcan/src/protocol/uc_dynamic_node_id_client.cpp

@@ -169,7 +169,7 @@ int DynamicNodeIDClient::start(const protocol::HardwareVersion& hardware_version
     }
     dnida_sub_.allowAnonymousTransfers();
 
-    startPeriodic(MonotonicDuration::fromMSec(protocol::dynamic_node_id::Allocation::DEFAULT_REQUEST_PERIOD_MS));
+    startPeriodic(MonotonicDuration::fromMSec(1000 /* TODO FIXME */));
 
     return 0;
 }

libuavcan/src/transport/uc_dispatcher.cpp

@@ -165,7 +165,6 @@ void Dispatcher::handleFrame(const CanRxFrame& can_frame)
     switch (frame.getTransferType())
     {
     case TransferTypeMessageBroadcast:
-    case TransferTypeMessageUnicast:
     {
         lmsg_.handleFrame(frame);
         break;
@@ -364,8 +363,7 @@ bool Dispatcher::hasSubscriber(DataTypeID dtid) const
 
 bool Dispatcher::hasPublisher(DataTypeID dtid) const
 {
-    return outgoing_transfer_reg_.exists(dtid, TransferTypeMessageBroadcast) ||
-           outgoing_transfer_reg_.exists(dtid, TransferTypeMessageUnicast);
+    return outgoing_transfer_reg_.exists(dtid, TransferTypeMessageBroadcast);
 }
 
 bool Dispatcher::hasServer(DataTypeID dtid) const

libuavcan/src/transport/uc_transfer.cpp

@@ -12,7 +12,12 @@ namespace uavcan
  * TransferPriority
  */
 const uint8_t TransferPriority::BitLen;
+const uint8_t TransferPriority::NumericallyMax;
+const uint8_t TransferPriority::NumericallyMin;
+
 const TransferPriority TransferPriority::Default((1U << BitLen) / 2);
+const TransferPriority TransferPriority::OneHigherThanLowest(NumericallyMax - 1);
+const TransferPriority TransferPriority::OneLowerThanHighest(NumericallyMin + 1);
 
 /**
  * TransferID

libuavcan/src/transport/uc_transfer_listener.cpp

@@ -65,7 +65,7 @@ MultiFrameIncomingTransfer::MultiFrameIncomingTransfer(MonotonicTime ts_mono, Ut
     , buf_acc_(tba)
 {
     UAVCAN_ASSERT(last_frame.isValid());
-    UAVCAN_ASSERT(last_frame.isLast());
+    UAVCAN_ASSERT(last_frame.isEndOfTransfer());
 }
 
 int MultiFrameIncomingTransfer::read(unsigned offset, uint8_t* data, unsigned len) const
@@ -202,7 +202,7 @@ void TransferListenerBase::handleFrame(const RxFrame& frame)
         TransferReceiver* recv = receivers_.access(key);
         if (recv == NULL)
         {
-            if (!frame.isFirst())
+            if (!frame.isStartOfTransfer())
             {
                 return;
             }
@@ -219,8 +219,8 @@ void TransferListenerBase::handleFrame(const RxFrame& frame)
         handleReception(*recv, frame, tba);
     }
     else if (frame.getSrcNodeID().isBroadcast() &&
-             frame.isFirst() &&
-             frame.isLast() &&
+             frame.isStartOfTransfer() &&
+             frame.isEndOfTransfer() &&
              frame.getDstNodeID().isBroadcast())        // Anonymous transfer
     {
         handleAnonymousTransferReception(frame);