niklas/cyclonedds
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

Accept invalid pre-emptive ACKNACK from Connext

Browse source 
Connext (sometimes, for some versions?) sends a pre-emptive ACKNACK with
a base sequence number of 0, which were rejected following the DDSI
specification (8.3.4.1, 8.3.5.5 and 8.3.7.1.3).  That doesn't really
help anyone.  (https://github.com/ros2/ros2/issues/824)

Signed-off-by: Erik Boasson <eb@ilities.com>
This commit is contained in:
Erik Boasson 2019-11-19 10:15:28 +01:00 • committed by eboasson
parent 3a3fb64a35
commit 8849392c5e
1 changed files with 5 additions and 3 deletions
Download patch file Download diff file Expand all files Collapse all files

8
src/core/ddsi/src/q_receive.c
View file

@ -130,9 +130,11 @@ static int valid_AckNack (const struct receiver_state *rst, AckNack_t *msg, size
/* Validation following 8.3.7.1.3 + 8.3.5.5 */
if (!valid_sequence_number_set (&msg->readerSNState))
{
/* FastRTPS sends invalid pre-emptive ACKs -- patch the message so we can process it */
if (! NN_STRICT_P (rst->gv->config) && vendor_is_eprosima (rst->vendor) &&
fromSN (msg->readerSNState.bitmap_base) == 0 && msg->readerSNState.numbits == 0)
/* FastRTPS, Connext send invalid pre-emptive ACKs -- patch the message to
make it well-formed and process it as normal */
if (! NN_STRICT_P (rst->gv->config) &&
(fromSN (msg->readerSNState.bitmap_base) == 0 && msg->readerSNState.numbits == 0) &&
(vendor_is_eprosima (rst->vendor) || vendor_is_rti (rst->vendor)))
msg->readerSNState.bitmap_base = toSN (1);
else
return 0;