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fix: checking can id #40

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merged 1 commit into from
Sep 23, 2024
Merged

fix: checking can id #40

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9 changes: 7 additions & 2 deletions ros2_socketcan/src/socket_can_id.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -136,8 +136,13 @@ CanId & CanId::identifier(const IdT id)
constexpr auto MAX_STANDARD = 0x07EFU;
static_assert(MAX_EXTENDED <= EXTENDED_ID_MASK, "Max extended id value is wrong");
static_assert(MAX_STANDARD <= STANDARD_ID_MASK, "Max extended id value is wrong");
const auto max_id = is_extended() ? MAX_EXTENDED : MAX_STANDARD;
if (max_id < id) {
auto max_id = MAX_STANDARD;
auto unmasked_id = id;
if (is_extended()) {
max_id = MAX_EXTENDED;
unmasked_id = id & ~(EXTENDED_MASK);
}
if (max_id < unmasked_id) {
throw std::domain_error{"CanId would be truncated!"};
}
// Clear and set
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