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uorb: enure message definitions don't exceed buffer lengths & increase test buffer 

There were already checks at runtime, but this ensures the format is not
too long at built-time.
This commit is contained in:
Beat Küng 2023-12-04 15:51:28 +01:00 committed by Silvan Fuhrer
parent df46ad7774
commit c5101c70b3
4 changed files with 12 additions and 1 deletions
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3
Tools/msg/px_generate_uorb_compressed_fields.py
View File

@ -146,6 +146,7 @@ def write_fields_to_hpp_file(file_name: str, definitions: dict, window_length: i
format_list: [str]):
max_tokenized_field_length, max_tokenized_field_length_msg = max(
((len(definitions[k]['fields']), k) for k in definitions), key=itemgetter(0))
max_untokenized_field_length = max(definitions[k]['fields_total_length'] for k in definitions)
max_num_orb_ids = max(len(definitions[k]['orb_ids']) for k in definitions)
max_num_orb_id_dependencies = max(len(definitions[k]['dependencies']) for k in definitions)
@ -167,6 +168,7 @@ const uint8_t* orb_compressed_message_formats();
unsigned orb_compressed_message_formats_size();
static constexpr unsigned orb_tokenized_fields_max_length = {MAX_TOKENIZED_FIELD_LENGTH}; // {MAX_TOKENIZED_FIELD_LENGTH_MSG}
static constexpr unsigned orb_untokenized_fields_max_length = {MAX_UNTOKENIZED_FIELD_LENGTH};
static constexpr unsigned orb_compressed_max_num_orb_ids = {MAX_NUM_ORB_IDS};
static constexpr unsigned orb_compressed_max_num_orb_id_dependencies = {MAX_NUM_ORB_ID_DEPENDENCIES};
@ -179,6 +181,7 @@ static constexpr unsigned orb_compressed_heatshrink_lookahead_length = {LOOKAHEA
'''
.replace('{MAX_TOKENIZED_FIELD_LENGTH}', str(max_tokenized_field_length))
.replace('{MAX_TOKENIZED_FIELD_LENGTH_MSG}', max_tokenized_field_length_msg)
.replace('{MAX_UNTOKENIZED_FIELD_LENGTH}', str(max_untokenized_field_length))
.replace('{MAX_NUM_ORB_IDS}', str(max_num_orb_ids))
.replace('{MAX_NUM_ORB_ID_DEPENDENCIES}', str(max_num_orb_id_dependencies))
.replace('{WINDOW_LENGTH}', str(window_length))

1
Tools/msg/templates/uorb/msg.json.em
View File

@ -42,6 +42,7 @@ for field in spec.parsed_fields():
{
@# join all msg files in one line e.g: "float[3] position;float[3] velocity;bool armed;"
"fields": @( json.dumps(bytearray(";".join(topic_fields)+";", 'utf-8').decode('unicode_escape')) ),
"fields_total_length": @(sum([len(convert_type(field.type))+1+len(field.name)+1 for field in sorted_fields])),
"orb_ids": @( json.dumps([ all_topics.index(topic) for topic in topics]) ),
"main_orb_id": @( all_topics.index(name_snake_case) if name_snake_case in all_topics else -1 ),
"dependencies": @( json.dumps(list(set(dependencies))) ),

5
platforms/common/uORB/uORBMessageFieldsTest.cpp
View File

@ -53,7 +53,10 @@ public:
TEST_F(uORBMessageFieldsTest, decompressed_formats_match)
{
char buffer[1500];
char buffer[1600];
static_assert(uORB::orb_untokenized_fields_max_length < sizeof(buffer) - HEATSHRINK_DECODER_INPUT_BUFFER_SIZE(_),
"msg definition too long / buffer too short");
uORB::MessageFormatReader format_reader(buffer, sizeof(buffer));
px4::Bitset<ORB_TOPICS_COUNT> formats_found;

4
src/modules/logger/logger.cpp
View File

@ -69,6 +69,10 @@
//#define DBGPRINT //write status output every few seconds
static_assert(uORB::orb_untokenized_fields_max_length < sizeof(ulog_message_format_s::format) -
HEATSHRINK_DECODER_INPUT_BUFFER_SIZE(_),
"msg definition too long / buffer too short");
#if defined(DBGPRINT)
// needed for mallinfo
#if defined(__PX4_POSIX) && !defined(__PX4_DARWIN)