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Run-time checks: Enforcing valid monotonic timestamp for all received frames

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This commit is contained in:
Pavel Kirienko
2014-03-20 23:49:26 +04:00
parent cfbbe41777
commit 96297678dc
2 changed files with 9 additions and 1 deletions
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libuavcan/src/transport/frame.cpp
+7
View File
@@ -211,7 +211,14 @@ std::string Frame::toString() const
bool RxFrame::parse(const CanRxFrame& can_frame)
{
if (!Frame::parse(can_frame))
{
return false;
}
if (can_frame.ts_mono.isZero()) // Monotonic timestamps are mandatory.
{
assert(0); // If it is not set, it's a driver failure.
return false;
}
ts_mono_ = can_frame.ts_mono;
ts_utc_ = can_frame.ts_utc;
iface_index_ = can_frame.iface_index;
libuavcan/test/transport/frame.cpp
+2 -1
View File
@@ -178,6 +178,7 @@ TEST(Frame, RxFrameParse)
ASSERT_FALSE(rx_frame.parse(can_rx_frame));
// Valid
can_rx_frame.ts_mono = uavcan::MonotonicTime::fromUSec(1); // Zero is not allowed
can_rx_frame.id = CanFrame::FlagEFF |
(2 << 0) | // Transfer ID
(1 << 3) | // Last Frame
@@ -187,7 +188,7 @@ TEST(Frame, RxFrameParse)
(456 << 19); // Data Type ID
ASSERT_TRUE(rx_frame.parse(can_rx_frame));
ASSERT_EQ(0, rx_frame.getMonotonicTimestamp().toUSec());
ASSERT_EQ(1, rx_frame.getMonotonicTimestamp().toUSec());
ASSERT_EQ(0, rx_frame.getIfaceIndex());
can_rx_frame.ts_mono = tsMono(123);