Set upper bounds for a few config params

roboticslab-uc3m · Jan 5, 2024 · 43a3542 · 43a3542
1 parent 06d22f2
commit 43a3542
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/libraries/YarpPlugins/CuiAbsolute/DeviceDriverImpl.cpp b/libraries/YarpPlugins/CuiAbsolute/DeviceDriverImpl.cpp
@@ -42,7 +42,7 @@ bool CuiAbsolute::open(yarp::os::Searchable & config)
     timeout = cuiGroup.check("timeout", yarp::os::Value(DEFAULT_TIMEOUT), "timeout (seconds)").asFloat64();
     maxRetries = cuiGroup.check("maxRetries", yarp::os::Value(DEFAULT_MAX_RETRIES), "max retries on timeout").asFloat64();
 
-    if (canId <= 0)
+    if (canId <= 0 || canId > 127)
     {
         yCError(CUI) << "Illegal CAN ID:" << canId;
         return false;

diff --git a/libraries/YarpPlugins/Jr3Mbed/DeviceDriverImpl.cpp b/libraries/YarpPlugins/Jr3Mbed/DeviceDriverImpl.cpp
@@ -42,13 +42,13 @@ bool Jr3Mbed::open(yarp::os::Searchable & config)
     name = config.check("name", yarp::os::Value(""), "sensor name").asString(); // id-specific
     filter = jr3Group.check("filter", yarp::os::Value(DEFAULT_FILTER), "cutoff frequency for low-pass filter (Hertz)").asFloat64();
 
-    if (canId <= 0)
+    if (canId <= 0 || canId > 127)
     {
         yCError(JR3M) << "Illegal CAN ID:" << canId;
         return false;
     }
 
-    if (filter < 0.0)
+    if (filter < 0.0 || filter > 655.35) // (2^16 - 1) / 100
     {
         yCError(JR3M) << "Illegal filter value:" << filter;
         return false;