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AP_DroneCAN: DNA_Server: fix cases involving use of invalid node IDs

This commit is contained in:
Thomas Watson 2024-07-13 14:48:43 -05:00 committed by Andrew Tridgell
parent a9317b1a07
commit 8d57533f1c
1 changed files with 5 additions and 4 deletions
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9
libraries/AP_DroneCAN/AP_DroneCAN_DNA_Server.cpp
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@ -155,7 +155,7 @@ uint8_t AP_DroneCAN_DNA_Server::getNodeIDForUniqueID(const uint8_t unique_id[],
NodeData node_data, cmp_node_data;
getHash(cmp_node_data, unique_id, size);
for (int i = MAX_NODE_ID; i >= 0; i--) {
for (int i = MAX_NODE_ID; i > 0; i--) {
if (!isNodeIDOccupied(i)) { // No point in checking NodeID that's not taken
continue;
}
@ -221,7 +221,7 @@ bool AP_DroneCAN_DNA_Server::init(uint8_t own_unique_id[], uint8_t own_unique_id
/* Go through our records and look for valid NodeData, to initialise
occupation mask */
for (uint8_t i = 0; i <= MAX_NODE_ID; i++) {
for (uint8_t i = 1; i <= MAX_NODE_ID; i++) {
if (isValidNodeDataAvailable(i)) {
occupation_mask.set(i);
}
@ -272,6 +272,7 @@ void AP_DroneCAN_DNA_Server::reset()
occupation_mask.clearall();
//Just write empty Node Data to the Records
// ensure node ID 0 is cleared even if we can't use it so we know the state
for (uint8_t i = 0; i <= MAX_NODE_ID; i++) {
writeNodeData(node_data, i);
}
@ -418,7 +419,7 @@ Or register if the node id is available and not recorded for the
received Unique ID */
void AP_DroneCAN_DNA_Server::handleNodeInfo(const CanardRxTransfer& transfer, const uavcan_protocol_GetNodeInfoResponse& rsp)
{
if (transfer.source_node_id > MAX_NODE_ID) {
if (transfer.source_node_id > MAX_NODE_ID || transfer.source_node_id == 0) {
return;
}
/*
@ -545,7 +546,7 @@ void AP_DroneCAN_DNA_Server::handleAllocation(const CanardRxTransfer& transfer,
//We have received the full Unique ID, time to do allocation
uint8_t resp_node_id = getNodeIDForUniqueID((const uint8_t*)rcvd_unique_id, 16);
if (resp_node_id == 255) {
resp_node_id = findFreeNodeID(msg.node_id);
resp_node_id = findFreeNodeID(msg.node_id > MAX_NODE_ID ? 0 : msg.node_id);
if (resp_node_id != 255) {
addNodeIDForUniqueID(resp_node_id, (const uint8_t*)rcvd_unique_id, 16);
rsp.node_id = resp_node_id;