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libuavcan passive mode support

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This commit is contained in:
Pavel Kirienko
2014-07-12 16:52:17 +04:00
parent 93f861ad60
commit c9c9a16e94
6 changed files with 47 additions and 4 deletions
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libuavcan/src/transport/uc_transfer_sender.cpp
+5
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@@ -19,6 +19,11 @@ int TransferSender::send(const uint8_t* payload, int payload_len, MonotonicTime
MonotonicTime blocking_deadline, TransferType transfer_type, NodeID dst_node_id,
TransferID tid)
{
if (dispatcher_.isPassiveMode())
{
return -ErrPassiveMode;
}
dispatcher_.getTransferPerfCounter().addTxTransfer();
Frame frame(data_type_.getID(), transfer_type, dispatcher_.getNodeID(), dst_node_id, 0, tid);