From c2ba231741af9ecdb4aea968c7dfc832aa36b7be Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Fri, 29 Jul 2016 17:24:18 +0300
Subject: [PATCH] ReceivedDataStructure<> made noncopyable

---
 libuavcan/include/uavcan/node/generic_subscriber.hpp |  7 ++++++-
 libuavcan/test/protocol/helpers.hpp                  | 10 ++++------
 2 files changed, 10 insertions(+), 7 deletions(-)

diff --git a/libuavcan/include/uavcan/node/generic_subscriber.hpp b/libuavcan/include/uavcan/node/generic_subscriber.hpp
index c4f06a2cce..8d58027cb0 100644
--- a/libuavcan/include/uavcan/node/generic_subscriber.hpp
+++ b/libuavcan/include/uavcan/node/generic_subscriber.hpp
@@ -29,9 +29,14 @@ namespace uavcan
  *  void first(const ReceivedDataStructure<Foo>& msg);
  *  void second(const Foo& msg);
  * In the latter case, an implicit cast will happen before the callback is invoked.
+ *
+ * This class is not copyable because it holds a reference to a stack-allocated transfer descriptor object.
+ * You can slice cast it to the underlying data type though, which would be copyable:
+ *  DataType dt = rds;  // where rds is of type ReceivedDataStructure<DataType>
+ *  // dt is now copyable
  */
 template <typename DataType_>
-class UAVCAN_EXPORT ReceivedDataStructure : public DataType_
+class UAVCAN_EXPORT ReceivedDataStructure : public DataType_, Noncopyable
 {
     const IncomingTransfer* const _transfer_;   ///< Such weird name is necessary to avoid clashing with DataType fields
 
diff --git a/libuavcan/test/protocol/helpers.hpp b/libuavcan/test/protocol/helpers.hpp
index dc57f21c63..b1d2f97157 100644
--- a/libuavcan/test/protocol/helpers.hpp
+++ b/libuavcan/test/protocol/helpers.hpp
@@ -14,18 +14,16 @@
 template <typename DataType>
 class SubscriptionCollector : uavcan::Noncopyable
 {
-    typedef uavcan::ReceivedDataStructure<DataType> ReceivedDataStructType;
-
-    void handler(const ReceivedDataStructType& msg)
+    void handler(const DataType& msg)
     {
-        this->msg.reset(new ReceivedDataStructType(msg));
+        this->msg.reset(new DataType(msg));
     }
 
 public:
-    std::auto_ptr<ReceivedDataStructType> msg;
+    std::auto_ptr<DataType> msg;
 
     typedef uavcan::MethodBinder<SubscriptionCollector*,
-                                 void (SubscriptionCollector::*)(const ReceivedDataStructType&)> Binder;
+                                 void (SubscriptionCollector::*)(const DataType&)> Binder;
 
     Binder bind() { return Binder(this, &SubscriptionCollector::handler); }
 };