Merge pull request #16 from AkilKhan/master

Destination node ID checking
OpenCyphal · Mar 15, 2016 · 34195e7 · 34195e7
2 parents f42f775 + 4a440ef
commit 34195e7
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/src/canard.c b/src/canard.c
@@ -193,6 +193,11 @@ void canardHandleRxFrame(CanardInstance* ins, const CanardCANFrame* frame, uint6
     uint16_t data_type_id = canardDataType(frame->id);
     uint32_t transfer_descriptor = CANARD_MAKE_TRANSFER_DESCRIPTOR(data_type_id, transfer_type, source_node_id,
                                                                    destination_node_id);
+
+    if(transfer_type != CanardTransferTypeBroadcast && destination_node_id != canardGetLocalNodeID(ins))
+    {
+        return;
+    }
 
     CanardRxState* rxstate = NULL;
     unsigned char tail_byte = frame->data[frame->data_len - 1];