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Changed logic to ignore all unwanted can frames #69

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Merged
tridge merged 1 commit into from
Jul 12, 2025
Merged

Changed logic to ignore all unwanted can frames #69

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12 changes: 10 additions & 2 deletions canard.c
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Original file line number Diff line number Diff line change
Expand Up @@ -456,8 +456,16 @@ int16_t canardHandleRxFrame(CanardInstance* ins, const CanardCANFrame* frame, ui
rx_state = findRxState(ins, transfer_descriptor);

if (rx_state == NULL)
{
return -CANARD_ERROR_RX_MISSED_START;
{
// we should return -CANARD_ERROR_RX_NOT_WANTED for
// non-start frames where we have rejected the start of
// transfer. doing it here avoids calling the potentially
// expensive should_accept() on every frame in messages we
// will be accepting
if (!ins->should_accept(ins, &data_type_signature, data_type_id, transfer_type, source_node_id)) {
return -CANARD_ERROR_RX_NOT_WANTED;
}
return -CANARD_ERROR_RX_MISSED_START;
}
}

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