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

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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
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@@ -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;