Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

DataFlash: add validation for Log_Write parameters

This commit is contained in:
Peter Barker 2017-11-15 11:02:56 +11:00 committed by Francisco Ferreira
parent 5070628230
commit fd0aa3c659
2 changed files with 86 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

80
libraries/DataFlash/DataFlash.cpp
View File

@ -48,6 +48,8 @@ const AP_Param::GroupInfo DataFlash_Class::var_info[] = {
AP_GROUPEND
};
#define streq(x, y) (!strcmp(x, y))
DataFlash_Class::DataFlash_Class(const char *firmware_string, const AP_Int32 &log_bitmask)
: _firmware_string(firmware_string)
, _log_bitmask(log_bitmask)
@ -679,12 +681,62 @@ void DataFlash_Class::Log_WriteV(const char *name, const char *labels, const cha
}
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
void DataFlash_Class::assert_same_fmt_for_name(const DataFlash_Class::log_write_fmt *f,
const char *name,
const char *labels,
const char *units,
const char *mults,
const char *fmt) const
{
bool passed = true;
if (!streq(f->name, name)) {
// why exactly were we called?!
Debug("format names differ (%s) != (%s)", f->name, name);
passed = false;
}
if (!streq(f->labels, labels)) {
Debug("format labels differ (%s) vs (%s)", f->labels, labels);
passed = false;
}
if ((f->units != nullptr && units == nullptr) ||
(f->units == nullptr && units != nullptr) ||
(units !=nullptr && !streq(f->units, units))) {
Debug("format units differ (%s) vs (%s)",
(f->units ? f->units : "nullptr"),
(units ? units : "nullptr"));
passed = false;
}
if ((f->mults != nullptr && mults == nullptr) ||
(f->mults == nullptr && mults != nullptr) ||
(mults != nullptr && !streq(f->mults, mults))) {
Debug("format mults differ (%s) vs (%s)",
(f->mults ? f->mults : "nullptr"),
(mults ? mults : "nullptr"));
passed = false;
}
if (!streq(f->fmt, fmt)) {
Debug("format fmt differ (%s) vs (%s)",
(f->fmt ? f->fmt : "nullptr"),
(fmt ? fmt : "nullptr"));
passed = false;
}
if (!passed) {
Debug("Format definition must be consistent for every call of Log_Write");
abort();
}
}
#endif
DataFlash_Class::log_write_fmt *DataFlash_Class::msg_fmt_for_name(const char *name, const char *labels, const char *units, const char *mults, const char *fmt)
{
struct log_write_fmt *f;
for (f = log_write_fmts; f; f=f->next) {
if (f->name == name) { // ptr comparison
// already have an ID for this name:
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
assert_same_fmt_for_name(f, name, labels, units, mults, fmt);
#endif
return f;
}
}
@ -718,6 +770,34 @@ DataFlash_Class::log_write_fmt *DataFlash_Class::msg_fmt_for_name(const char *na
f->next = log_write_fmts;
log_write_fmts = f;
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
struct LogStructure ls = {
f->msg_type,
f->msg_len,
"",
"",
"",
"",
""
};
memcpy((char*)ls.name, f->name, MIN(sizeof(ls.name), strlen(f->name)));
memcpy((char*)ls.format, f->fmt, MIN(sizeof(ls.format), strlen(f->fmt)));
memcpy((char*)ls.labels, f->labels, MIN(sizeof(ls.labels), strlen(f->labels)));
if (f->units != nullptr) {
memcpy((char*)ls.units, f->units, MIN(sizeof(ls.units), strlen(f->units)));
} else {
memset((char*)ls.units, '\0', sizeof(ls.units));
memset((char*)ls.units, '?', strlen(ls.format));
}
if (f->mults != nullptr) {
memcpy((char*)ls.multipliers, f->mults, MIN(sizeof(ls.multipliers), strlen(f->mults)));
} else {
memset((char*)ls.multipliers, '\0', sizeof(ls.multipliers));
memset((char*)ls.multipliers, '?', strlen(ls.format));
}
validate_structure(&ls, (int16_t)-1);
#endif
return f;
}

6
libraries/DataFlash/DataFlash.h
View File

@ -323,6 +323,12 @@ private:
void validate_structures(const struct LogStructure *logstructures, const uint8_t num_types);
void dump_structure_field(const struct LogStructure *logstructure, const char *label, const uint8_t fieldnum);
void dump_structures(const struct LogStructure *logstructures, const uint8_t num_types);
void assert_same_fmt_for_name(const log_write_fmt *f,
const char *name,
const char *labels,
const char *units,
const char *mults,
const char *fmt) const;
const char* unit_name(const uint8_t unit_id);
double multiplier_name(const uint8_t multiplier_id);
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL