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ROSBuzz_MISTLab
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protection from illformed msg

This commit is contained in:
vivek-shankar 2017-01-27 06:01:48 -05:00
parent 7c3aa655d7
commit c724900448
1 changed files with 28 additions and 25 deletions
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53
src/buzz_utility.cpp
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@ -87,33 +87,36 @@ namespace buzz_utility{
unMsgSize = *(uint16_t*)(pl + tot);
fprintf(stdout,"received Msg size : %i\n",(int) *(uint16_t*)(pl + tot));
tot += sizeof(uint16_t);
code_message_inqueue_append(pl+tot,unMsgSize);
fprintf(stdout,"Msg 1 : %i , and Msg 2: %i\n",(int) *(uint16_t*)(pl+tot),(int) *(uint8_t*)(pl+tot+sizeof(uint16_t)));
tot += unMsgSize;
code_message_inqueue_process();
unMsgSize=0;
/*Check for Buzz messages only when the code is running*/
if(get_update_mode()==CODE_RUNNING){
uint8_t buzz_msg_pre=*(uint8_t*)(pl + tot);
tot+= sizeof(uint8_t);
/*Obtain Buzz messages only when they are present*/
if(buzz_msg_pre){
do {
/* Get payload size */
unMsgSize = *(uint16_t*)(pl + tot);
tot += sizeof(uint16_t);
/* Append message to the Buzz input message queue */
if(unMsgSize > 0 && unMsgSize <= size - tot ) {
buzzinmsg_queue_append(VM,
buzzmsg_payload_frombuffer(pl +tot, unMsgSize));
tot += unMsgSize;
}
}while(size - tot > sizeof(uint16_t) && unMsgSize > 0);
/*Xbee seems to send a lots of unknown message check later, added to avoid it, safe anyways*/
if(*(uint16_t*)(pl + tot) >= 4){
tot += sizeof(uint16_t);
code_message_inqueue_append(pl+tot,unMsgSize);
fprintf(stdout,"Msg 1 : %i , and Msg 2: %i\n",(int) *(uint16_t*)(pl+tot),(int) *(uint8_t*)(pl+tot+sizeof(uint16_t)));
tot += unMsgSize;
code_message_inqueue_process();
unMsgSize=0;
/*Check for Buzz messages only when the code is running*/
if(get_update_mode()==CODE_RUNNING){
uint8_t buzz_msg_pre=*(uint8_t*)(pl + tot);
tot+= sizeof(uint8_t);
/*Obtain Buzz messages only when they are present*/
if(buzz_msg_pre){
do {
/* Get payload size */
unMsgSize = *(uint16_t*)(pl + tot);
tot += sizeof(uint16_t);
/* Append message to the Buzz input message queue */
if(unMsgSize > 0 && unMsgSize <= size - tot ) {
buzzinmsg_queue_append(VM,
buzzmsg_payload_frombuffer(pl +tot, unMsgSize));
tot += unMsgSize;
}
}while(size - tot > sizeof(uint16_t) && unMsgSize > 0);
}
}
/* Process messages */
buzzvm_process_inmsgs(VM);
}
/* Process messages */
buzzvm_process_inmsgs(VM);
}
/***************************************************/
/*Obtains messages from buzz out message Queue*/