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AP_HAL_Linux: fix build error with flexible array

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Apparently this code came in part from libuavcan that defines this
struct Control. They also had the same issue detailed on
https://github.com/UAVCAN/libuavcan/issues/116.

The solution here is much simpler though: stick to the design of cmsg()
even if it's C. As per cmsg(3), use a union together with CMSG_SPACE().
This commit is contained in:
Lucas De Marchi 2018-03-16 10:10:23 -07:00 committed by Lucas De Marchi
parent 96ae9cef14
commit cf3a9cddc8
1 changed files with 5 additions and 7 deletions
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12
libraries/AP_HAL_Linux/CAN.cpp
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@ -371,18 +371,16 @@ int CAN::_read(uavcan::CanFrame& frame, uavcan::UtcTime& ts_utc, bool& loopback)
auto sockcan_frame = can_frame();
iov.iov_base = &sockcan_frame;
iov.iov_len = sizeof(sockcan_frame);
struct Control
{
cmsghdr cm;
std::uint8_t data[sizeof(::timeval)];
union {
uint8_t data[CMSG_SPACE(sizeof(::timeval))];
struct cmsghdr align;
} control;
auto msg = msghdr();
msg.msg_iov = &iov;
msg.msg_iovlen = 1;
msg.msg_control = &control;
msg.msg_controllen = sizeof(control);
msg.msg_control = control.data;
msg.msg_controllen = sizeof(control.data);
const int res = recvmsg(_fd, &msg, MSG_DONTWAIT);
if (res <= 0) {