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TransferListener now can accept rogue transfers

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This commit is contained in:
Pavel Kirienko
2015-04-06 19:02:22 +03:00
parent b4d93df450
commit de33cf9250
4 changed files with 101 additions and 14 deletions
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libuavcan/src/transport/uc_transfer_listener.cpp
+43 -14
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@@ -50,6 +50,11 @@ int SingleFrameIncomingTransfer::read(unsigned offset, uint8_t* data, unsigned l
return int(len);
}
bool SingleFrameIncomingTransfer::isRogueTransfer() const
{
return (getTransferType() == TransferTypeMessageBroadcast) && getSrcNodeID().isBroadcast();
}
/*
* MultiFrameIncomingTransfer
*/
@@ -172,6 +177,16 @@ void TransferListenerBase::handleReception(TransferReceiver& receiver, const RxF
}
}
void TransferListenerBase::handleRogueTransferReception(const RxFrame& frame)
{
if (allow_rogue_transfers_)
{
perf_.addRxTransfer();
SingleFrameIncomingTransfer it(frame);
handleIncomingTransfer(it);
}
}
void TransferListenerBase::cleanup(MonotonicTime ts)
{
receivers_.removeWhere(TimedOutReceiverPredicate(ts, bufmgr_));
@@ -180,26 +195,40 @@ void TransferListenerBase::cleanup(MonotonicTime ts)
void TransferListenerBase::handleFrame(const RxFrame& frame)
{
const TransferBufferManagerKey key(frame.getSrcNodeID(), frame.getTransferType());
TransferReceiver* recv = receivers_.access(key);
if (recv == NULL)
if (frame.getSrcNodeID().isUnicast()) // Normal transfer
{
if (!frame.isFirst())
{
return;
}
const TransferBufferManagerKey key(frame.getSrcNodeID(), frame.getTransferType());
TransferReceiver new_recv;
recv = receivers_.insert(key, new_recv);
TransferReceiver* recv = receivers_.access(key);
if (recv == NULL)
{
UAVCAN_TRACE("TransferListener", "Receiver registration failed; frame %s", frame.toString().c_str());
return;
if (!frame.isFirst())
{
return;
}
TransferReceiver new_recv;
recv = receivers_.insert(key, new_recv);
if (recv == NULL)
{
UAVCAN_TRACE("TransferListener", "Receiver registration failed; frame %s", frame.toString().c_str());
return;
}
}
TransferBufferAccessor tba(bufmgr_, key);
handleReception(*recv, frame, tba);
}
else if (frame.getSrcNodeID().isBroadcast() &&
frame.isFirst() &&
frame.isLast() &&
frame.getDstNodeID().isBroadcast()) // Rogue transfer
{
handleRogueTransferReception(frame);
}
else
{
UAVCAN_TRACE("TransferListenerBase", "Invalid frame: %s", frame.toString().c_str()); // Invalid frame
}
TransferBufferAccessor tba(bufmgr_, key);
handleReception(*recv, frame, tba);
}
}