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

Cover last potential corner case with mixers, should be totally safe now

This commit is contained in:
Lorenz Meier 2013-09-22 11:16:19 +02:00
parent 669d4c6dd2
commit f62aeba420
3 changed files with 32 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
src/modules/systemlib/mixer/mixer.cpp
View File

@ -142,6 +142,12 @@ NullMixer *
NullMixer::from_text(const char *buf, unsigned &buflen)
{
NullMixer *nm = nullptr;
const char *end = buf + buflen;
/* require a space or newline at the end of the buffer */
if (*end != ' ' && *end != '\n' && *end != '\r') {
return nm;
}
if ((buflen >= 2) && (buf[0] == 'Z') && (buf[1] == ':')) {
nm = new NullMixer;

7
src/modules/systemlib/mixer/mixer_multirotor.cpp
View File

@ -181,6 +181,13 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl
char geomname[8];
int s[4];
int used;
const char *end = buf + buflen;
/* require a space or newline at the end of the buffer */
if (*end != ' ' && *end != '\n' && *end != '\r') {
debug("multirotor parser rejected: No newline / space at end of buf.");
return nullptr;
}
if (sscanf(buf, "R: %s %d %d %d %d%n", geomname, &s[0], &s[1], &s[2], &s[3], &used) != 5) {
debug("multirotor parse failed on '%s'", buf);

23
src/modules/systemlib/mixer/mixer_simple.cpp
View File

@ -100,8 +100,10 @@ SimpleMixer::parse_output_scaler(const char *buf, unsigned &buflen, mixer_scaler
int s[5];
buf = findtag(buf, buflen, 'O');
if ((buf == nullptr) || (buflen < 12))
if ((buf == nullptr) || (buflen < 12)) {
debug("output parser failed finding tag, ret: '%s'", buf);
return -1;
}
if ((ret = sscanf(buf, "O: %d %d %d %d %d",
&s[0], &s[1], &s[2], &s[3], &s[4])) != 5) {
@ -126,8 +128,10 @@ SimpleMixer::parse_control_scaler(const char *buf, unsigned &buflen, mixer_scale
int s[5];
buf = findtag(buf, buflen, 'S');
if ((buf == nullptr) || (buflen < 16))
if ((buf == nullptr) || (buflen < 16)) {
debug("contorl parser failed finding tag, ret: '%s'", buf);
return -1;
}
if (sscanf(buf, "S: %u %u %d %d %d %d %d",
&u[0], &u[1], &s[0], &s[1], &s[2], &s[3], &s[4]) != 7) {
@ -156,6 +160,12 @@ SimpleMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handle, c
int used;
const char *end = buf + buflen;
/* require a space or newline at the end of the buffer */
if (*end != ' ' && *end != '\n' && *end != '\r') {
debug("simple parser rejected: No newline / space at end of buf.");
goto out;
}
/* get the base info for the mixer */
if (sscanf(buf, "M: %u%n", &inputs, &used) != 1) {
debug("simple parse failed on '%s'", buf);
@ -173,15 +183,20 @@ SimpleMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handle, c
mixinfo->control_count = inputs;
if (parse_output_scaler(end - buflen, buflen, mixinfo->output_scaler))
if (parse_output_scaler(end - buflen, buflen, mixinfo->output_scaler)) {
debug("simple mixer parser failed parsing out scaler tag, ret: '%s'", buf);
goto out;
}
for (unsigned i = 0; i < inputs; i++) {
if (parse_control_scaler(end - buflen, buflen,
mixinfo->controls[i].scaler,
mixinfo->controls[i].control_group,
mixinfo->controls[i].control_index))
mixinfo->controls[i].control_index)) {
debug("simple mixer parser failed parsing ctrl scaler tag, ret: '%s'", buf);
goto out;
}
}
sm = new SimpleMixer(control_cb, cb_handle, mixinfo);