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Fix a whole bunch of sanity checks across all mixers

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This commit is contained in:
Lorenz Meier
2013-09-22 14:20:19 +02:00
parent d29a1b69e5
commit 9424728af9
4 changed files with 48 additions and 17 deletions
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src/modules/px4iofirmware/mixer.cpp
+1 -1
View File
@@ -221,7 +221,7 @@ mixer_tick(void)
}
/* do the calculations during the ramp for all at once */
if(esc_state == ESC_RAMP) {
if (esc_state == ESC_RAMP) {
ramp_promille = (1000*(hrt_elapsed_time(&esc_init_time)-ESC_INIT_TIME_US))/ESC_RAMP_TIME_US;
}
src/modules/systemlib/mixer/mixer.cpp
+13 -3
View File
@@ -144,9 +144,19 @@ NullMixer::from_text(const char *buf, unsigned &buflen)
NullMixer *nm = nullptr;
const char *end = buf + buflen;
/* require a space or newline at the end of the buffer */
if (*end != ' ' && *end != '\n' && *end != '\r') {
return nm;
/* enforce that the mixer ends with space or a new line */
for (int i = buflen - 1; i >= 0; i--) {
if (buf[i] == '\0')
continue;
/* require a space or newline at the end of the buffer, fail on printable chars */
if (buf[i] == ' ' || buf[i] == '\n' || buf[i] == '\r') {
/* found a line ending or space, so no split symbols / numbers. good. */
break;
} else {
return nm;
}
}
if ((buflen >= 2) && (buf[0] == 'Z') && (buf[1] == ':')) {
src/modules/systemlib/mixer/mixer_multirotor.cpp
+14 -4
View File
@@ -183,10 +183,20 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl
int used;
const char *end = buf + buflen;
/* require a space or newline at the end of the buffer */
if (*end != ' ' && *end != '\n' && *end != '\r') {
debug("multirotor parser rejected: No newline / space at end of buf.");
return nullptr;
/* enforce that the mixer ends with space or a new line */
for (int i = buflen - 1; i >= 0; i--) {
if (buf[i] == '\0')
continue;
/* require a space or newline at the end of the buffer, fail on printable chars */
if (buf[i] == ' ' || buf[i] == '\n' || buf[i] == '\r') {
/* found a line ending or space, so no split symbols / numbers. good. */
break;
} else {
debug("simple parser rejected: No newline / space at end of buf. (#%d/%d: 0x%02x)", i, buflen-1, buf[i]);
return nullptr;
}
}
if (sscanf(buf, "R: %s %d %d %d %d%n", geomname, &s[0], &s[1], &s[2], &s[3], &used) != 5) {
src/modules/systemlib/mixer/mixer_simple.cpp
+20 -9
View File
@@ -55,7 +55,7 @@
#include "mixer.h"
#define debug(fmt, args...) do { } while(0)
//#define debug(fmt, args...) do { printf("[mixer] " fmt "\n", ##args); } while(0)
// #define debug(fmt, args...) do { printf("[mixer] " fmt "\n", ##args); } while(0)
SimpleMixer::SimpleMixer(ControlCallback control_cb,
uintptr_t cb_handle,
@@ -98,6 +98,7 @@ SimpleMixer::parse_output_scaler(const char *buf, unsigned &buflen, mixer_scaler
{
int ret;
int s[5];
int n = -1;
buf = findtag(buf, buflen, 'O');
if ((buf == nullptr) || (buflen < 12)) {
@@ -105,9 +106,9 @@ SimpleMixer::parse_output_scaler(const char *buf, unsigned &buflen, mixer_scaler
return -1;
}
if ((ret = sscanf(buf, "O: %d %d %d %d %d",
&s[0], &s[1], &s[2], &s[3], &s[4])) != 5) {
debug("scaler parse failed on '%s' (got %d)", buf, ret);
if ((ret = sscanf(buf, "O: %d %d %d %d %d %n",
&s[0], &s[1], &s[2], &s[3], &s[4], &n)) != 5) {
debug("out scaler parse failed on '%s' (got %d, consumed %d)", buf, ret, n);
return -1;
}
skipline(buf, buflen);
@@ -160,10 +161,20 @@ SimpleMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handle, c
int used;
const char *end = buf + buflen;
/* require a space or newline at the end of the buffer */
if (*end != ' ' && *end != '\n' && *end != '\r') {
debug("simple parser rejected: No newline / space at end of buf.");
goto out;
/* enforce that the mixer ends with space or a new line */
for (int i = buflen - 1; i >= 0; i--) {
if (buf[i] == '\0')
continue;
/* require a space or newline at the end of the buffer, fail on printable chars */
if (buf[i] == ' ' || buf[i] == '\n' || buf[i] == '\r') {
/* found a line ending or space, so no split symbols / numbers. good. */
break;
} else {
debug("simple parser rejected: No newline / space at end of buf. (#%d/%d: 0x%02x)", i, buflen-1, buf[i]);
goto out;
}
}
/* get the base info for the mixer */
@@ -203,7 +214,7 @@ SimpleMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handle, c
if (sm != nullptr) {
mixinfo = nullptr;
debug("loaded mixer with %d inputs", inputs);
debug("loaded mixer with %d input(s)", inputs);
} else {
debug("could not allocate memory for mixer");