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 adds a counter here to only loop to a maximum number of iterations.
Now we avoid situations in which we would be stuck processing packets here.
This also adds some other meaningful defines
Francisco Ferreira
Eugene Shamaev
Lucas De Marchi
Nikita Tomilov
Tom Pittenger
Alexey Bulatov