dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

logger: make sure structs are properly aligned 

ulog_message_info_header_s *msg = reinterpret_cast<ulog_message_info_header_s *>(buffer);
members of msg could end up unaligned, because of the uint8_t buffer.
This commit is contained in:
Beat Küng 2016-10-18 08:41:03 +02:00 committed by Lorenz Meier
parent 296b07f9d8
commit 4120cd93df
1 changed files with 25 additions and 25 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

50
src/modules/logger/logger.cpp
View File

@ -1259,21 +1259,21 @@ void Logger::write_add_logged_msg(LoggerSubscription &subscription, int instance
void Logger::write_info(const char *name, const char *value)
{
_writer.lock();
uint8_t buffer[sizeof(ulog_message_info_header_s)];
ulog_message_info_header_s *msg = reinterpret_cast<ulog_message_info_header_s *>(buffer);
msg->msg_type = static_cast<uint8_t>(ULogMessageType::INFO);
ulog_message_info_header_s msg;
uint8_t *buffer = reinterpret_cast<uint8_t *>(&msg);
msg.msg_type = static_cast<uint8_t>(ULogMessageType::INFO);
/* construct format key (type and name) */
size_t vlen = strlen(value);
msg->key_len = snprintf(msg->key, sizeof(msg->key), "char[%zu] %s", vlen, name);
size_t msg_size = sizeof(*msg) - sizeof(msg->key) + msg->key_len;
msg.key_len = snprintf(msg.key, sizeof(msg.key), "char[%zu] %s", vlen, name);
size_t msg_size = sizeof(msg) - sizeof(msg.key) + msg.key_len;
/* copy string value directly to buffer */
if (vlen < (sizeof(*msg) - msg_size)) {
if (vlen < (sizeof(msg) - msg_size)) {
memcpy(&buffer[msg_size], value, vlen);
msg_size += vlen;
msg->msg_size = msg_size - ULOG_MSG_HEADER_LEN;
msg.msg_size = msg_size - ULOG_MSG_HEADER_LEN;
write_message(buffer, msg_size);
}
@ -1283,19 +1283,19 @@ void Logger::write_info(const char *name, const char *value)
void Logger::write_info(const char *name, int32_t value)
{
_writer.lock();
uint8_t buffer[sizeof(ulog_message_info_header_s)];
ulog_message_info_header_s *msg = reinterpret_cast<ulog_message_info_header_s *>(buffer);
msg->msg_type = static_cast<uint8_t>(ULogMessageType::INFO);
ulog_message_info_header_s msg;
uint8_t *buffer = reinterpret_cast<uint8_t *>(&msg);
msg.msg_type = static_cast<uint8_t>(ULogMessageType::INFO);
/* construct format key (type and name) */
msg->key_len = snprintf(msg->key, sizeof(msg->key), "int32_t %s", name);
size_t msg_size = sizeof(*msg) - sizeof(msg->key) + msg->key_len;
msg.key_len = snprintf(msg.key, sizeof(msg.key), "int32_t %s", name);
size_t msg_size = sizeof(msg) - sizeof(msg.key) + msg.key_len;
/* copy string value directly to buffer */
memcpy(&buffer[msg_size], &value, sizeof(int32_t));
msg_size += sizeof(int32_t);
msg->msg_size = msg_size - ULOG_MSG_HEADER_LEN;
msg.msg_size = msg_size - ULOG_MSG_HEADER_LEN;
write_message(buffer, msg_size);
@ -1340,10 +1340,10 @@ void Logger::write_version()
void Logger::write_parameters()
{
_writer.lock();
uint8_t buffer[sizeof(ulog_message_parameter_header_s) + sizeof(param_value_u)];
ulog_message_parameter_header_s *msg = reinterpret_cast<ulog_message_parameter_header_s *>(buffer);
ulog_message_parameter_header_s msg;
uint8_t *buffer = reinterpret_cast<uint8_t *>(&msg);
msg->msg_type = static_cast<uint8_t>(ULogMessageType::PARAMETER);
msg.msg_type = static_cast<uint8_t>(ULogMessageType::PARAMETER);
int param_idx = 0;
param_t param = 0;
@ -1377,14 +1377,14 @@ void Logger::write_parameters()
}
/* format parameter key (type and name) */
msg->key_len = snprintf(msg->key, sizeof(msg->key), "%s %s", type_str, param_name(param));
size_t msg_size = sizeof(*msg) - sizeof(msg->key) + msg->key_len;
msg.key_len = snprintf(msg.key, sizeof(msg.key), "%s %s", type_str, param_name(param));
size_t msg_size = sizeof(msg) - sizeof(msg.key) + msg.key_len;
/* copy parameter value directly to buffer */
param_get(param, &buffer[msg_size]);
msg_size += value_size;
msg->msg_size = msg_size - ULOG_MSG_HEADER_LEN;
msg.msg_size = msg_size - ULOG_MSG_HEADER_LEN;
write_message(buffer, msg_size);
}
@ -1397,10 +1397,10 @@ void Logger::write_parameters()
void Logger::write_changed_parameters()
{
_writer.lock();
uint8_t buffer[sizeof(ulog_message_parameter_header_s) + sizeof(param_value_u)];
ulog_message_parameter_header_s *msg = reinterpret_cast<ulog_message_parameter_header_s *>(buffer);
ulog_message_parameter_header_s msg;
uint8_t *buffer = reinterpret_cast<uint8_t *>(&msg);
msg->msg_type = static_cast<uint8_t>(ULogMessageType::PARAMETER);
msg.msg_type = static_cast<uint8_t>(ULogMessageType::PARAMETER);
int param_idx = 0;
param_t param = 0;
@ -1435,15 +1435,15 @@ void Logger::write_changed_parameters()
}
/* format parameter key (type and name) */
msg->key_len = snprintf(msg->key, sizeof(msg->key), "%s %s", type_str, param_name(param));
size_t msg_size = sizeof(*msg) - sizeof(msg->key) + msg->key_len;
msg.key_len = snprintf(msg.key, sizeof(msg.key), "%s %s", type_str, param_name(param));
size_t msg_size = sizeof(msg) - sizeof(msg.key) + msg.key_len;
/* copy parameter value directly to buffer */
param_get(param, &buffer[msg_size]);
msg_size += value_size;
/* msg_size is now 1 (msg_type) + 2 (msg_size) + 1 (key_len) + key_len + value_size */
msg->msg_size = msg_size - ULOG_MSG_HEADER_LEN;
msg.msg_size = msg_size - ULOG_MSG_HEADER_LEN;
write_message(buffer, msg_size);
}