Method ProcessReceivedMessage

src/CAN/CommandProcessor.cpp:294–730

Process a received broadcast or request message. Don't free the message buffer

// Process a received broadcast or request message. Don't free the message buffer
void CommandProcessor::ProcessReceivedMessage(CanMessageBuffer *buf) noexcept
{
	if (buf->id.Src() != CanInterface::GetCanAddress())								// I don't think we should receive our own broadcasts, but in case we do...
	{
		if (   buf->id.Dst() != CanId::BroadcastAddress
			&& buf->id.MsgType() != CanMessageType::fansReport						// don't flash whenever we receive a regular status message
			&& buf->id.MsgType() != CanMessageType::heatersStatusReport
			&& buf->id.MsgType() != CanMessageType::boardStatusReport
			&& buf->id.MsgType() != CanMessageType::driversStatusReport
			&& buf->id.MsgType() != CanMessageType::filamentMonitorsStatusReportNew2
		   )
		{
			reprap.GetPlatform().OnProcessingCanMessage();
		}

		const CanMessageType id = buf->id.MsgType();
#if SUPPORT_REMOTE_COMMANDS
		if (CanInterface::InExpansionMode())
		{
			String<StringLength500> reply;
			const StringRef& replyRef = reply.GetRef();
			GCodeResult rslt;
			CanRequestId requestId;
			uint8_t extra = 0;

			switch (id)
			{
			case CanMessageType::timeSync:
				StepTimer::ProcessTimeSyncMessage(buf->msg.sync, buf->dataLength, buf->timeStamp);
				return;							// no reply needed

			case CanMessageType::emergencyStop:
				reprap.EmergencyStop();
				reprap.ScheduleReset();
				return;							// no reply needed

			case CanMessageType::movementLinearShaped:
				// Check for duplicate and out-of-sequence message
				// We can get out-of-sequence messages because of a bug in the CAN hardware; so use only the sequence number to detect duplicates
				{
					const int8_t seq = buf->msg.moveLinearShaped.seq;
					if (((seq + 1) & CanMessageMovementLinearShaped::SeqMask) == expectedSeq)
					{
						++duplicateMotionMessages;
						return;
					}

					if (seq != expectedSeq && expectedSeq != 0xFF)
					{
						switch ((seq - expectedSeq) & CanMessageMovementLinearShaped::SeqMask)
						{
						case 1:
							++oosMessages1Ahead;
							break;

						case 2:
							++oosMessages2Ahead;
							break;