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TransferSender is now capable of broadcasting in passive mode; Frame::isValid() was modified to accept SFT broadcasts with zero SNID

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This commit is contained in:
Pavel Kirienko
2015-04-05 11:51:58 +03:00
parent 38c6a0d7ac
commit b4d93df450
7 changed files with 67 additions and 8 deletions
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libuavcan/src/transport/uc_frame.cpp
+5 -2
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@@ -170,9 +170,12 @@ bool Frame::isValid() const
const bool invalid =
(frame_index_ > MaxIndex) ||
((frame_index_ == MaxIndex) && !last_frame_) ||
(!src_node_id_.isUnicast()) ||
(!src_node_id_.isValid()) ||
(!dst_node_id_.isValid()) ||
(src_node_id_ == dst_node_id_) ||
(src_node_id_.isUnicast() ? (src_node_id_ == dst_node_id_) : false) ||
(src_node_id_.isBroadcast()
? (!last_frame_ || (frame_index_ > 0) || (transfer_type_ != TransferTypeMessageBroadcast))
: false) ||
((transfer_type_ == TransferTypeMessageBroadcast) != dst_node_id_.isBroadcast()) ||
(transfer_type_ >= NumTransferTypes) ||
(static_cast<int>(payload_len_) > getMaxPayloadLen()) ||