From c323d8e724a24a66a591ca550adb7421c3e42b42 Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Sun, 24 May 2015 20:12:33 +0300
Subject: [PATCH] Raft - ignoring Allocation activity if it is a response

---
 .../dynamic_node_id_server/distributed/raft_core.hpp       | 2 +-
 .../protocol/dynamic_node_id_server/distributed/server.hpp | 7 +++++--
 2 files changed, 6 insertions(+), 3 deletions(-)

diff --git a/libuavcan/include/uavcan/protocol/dynamic_node_id_server/distributed/raft_core.hpp b/libuavcan/include/uavcan/protocol/dynamic_node_id_server/distributed/raft_core.hpp
index 3066d8da88..4f3b0a9d05 100644
--- a/libuavcan/include/uavcan/protocol/dynamic_node_id_server/distributed/raft_core.hpp
+++ b/libuavcan/include/uavcan/protocol/dynamic_node_id_server/distributed/raft_core.hpp
@@ -61,7 +61,7 @@ public:
  * Active state switch logic:
  *   Activation (this is default state):
  *     - vote request
- *     - allocation activity detected
+ *     - allocation request at any stage
  *     - only if leader:
  *       - discovery activity detected
  *       - log is not fully replicated or there are uncommitted entries
diff --git a/libuavcan/include/uavcan/protocol/dynamic_node_id_server/distributed/server.hpp b/libuavcan/include/uavcan/protocol/dynamic_node_id_server/distributed/server.hpp
index 22b3a4b9be..03c4ede47c 100644
--- a/libuavcan/include/uavcan/protocol/dynamic_node_id_server/distributed/server.hpp
+++ b/libuavcan/include/uavcan/protocol/dynamic_node_id_server/distributed/server.hpp
@@ -135,9 +135,12 @@ class UAVCAN_EXPORT Server : IAllocationRequestHandler
          }
     }
 
-    virtual void handleAllocationActivityDetection(const ReceivedDataStructure<Allocation>&)
+    virtual void handleAllocationActivityDetection(const ReceivedDataStructure<Allocation>& msg)
     {
-        raft_core_.forceActiveMode();
+        if (msg.isAnonymousTransfer())
+        {
+            raft_core_.forceActiveMode();
+        }
     }
 
     /*