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TransferReceiver: Checking for unexpected start of transfer

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Pavel Kirienko
2015-07-03 06:16:50 +03:00
parent c56458c73d
commit da6dd5a227
1 changed files with 5 additions and 0 deletions
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libuavcan/src/transport/uc_transfer_receiver.cpp
+5
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@@ -75,6 +75,11 @@ bool TransferReceiver::validate(const RxFrame& frame) const
registerError();
return false;
}
if (frame.isStartOfTransfer() && (buffer_write_pos_ != 0))
{
UAVCAN_TRACE("TransferReceiver", "Unexpected start of transfer, %s", frame.toString().c_str());
registerError();
}
if (frame.getToggle() != next_toggle_)
{
UAVCAN_TRACE("TransferReceiver", "Unexpected toggle bit (not %i), %s",