diff options
Diffstat (limited to 'src/modules/systemlib/mixer')
-rw-r--r-- | src/modules/systemlib/mixer/mixer.cpp | 27 | ||||
-rw-r--r-- | src/modules/systemlib/mixer/mixer.h | 23 | ||||
-rw-r--r-- | src/modules/systemlib/mixer/mixer_group.cpp | 15 | ||||
-rw-r--r-- | src/modules/systemlib/mixer/mixer_load.c | 15 | ||||
-rw-r--r-- | src/modules/systemlib/mixer/mixer_load.h | 2 | ||||
-rw-r--r-- | src/modules/systemlib/mixer/mixer_multirotor.cpp | 10 | ||||
-rw-r--r-- | src/modules/systemlib/mixer/mixer_simple.cpp | 62 |
7 files changed, 101 insertions, 53 deletions
diff --git a/src/modules/systemlib/mixer/mixer.cpp b/src/modules/systemlib/mixer/mixer.cpp index b4b82c539..cce46bf5f 100644 --- a/src/modules/systemlib/mixer/mixer.cpp +++ b/src/modules/systemlib/mixer/mixer.cpp @@ -116,6 +116,33 @@ Mixer::scale_check(struct mixer_scaler_s &scaler) return 0; } +const char * +Mixer::findtag(const char *buf, unsigned &buflen, char tag) +{ + while (buflen >= 2) { + if ((buf[0] == tag) && (buf[1] == ':')) + return buf; + buf++; + buflen--; + } + return nullptr; +} + +const char * +Mixer::skipline(const char *buf, unsigned &buflen) +{ + const char *p; + + /* if we can find a CR or NL in the buffer, skip up to it */ + if ((p = (const char *)memchr(buf, '\r', buflen)) || (p = (const char *)memchr(buf, '\n', buflen))) { + /* skip up to it AND one beyond - could be on the NUL symbol now */ + buflen -= (p - buf) + 1; + return p + 1; + } + + return nullptr; +} + /****************************************************************************/ NullMixer::NullMixer() : diff --git a/src/modules/systemlib/mixer/mixer.h b/src/modules/systemlib/mixer/mixer.h index 6c322ff92..723bf9f3b 100644 --- a/src/modules/systemlib/mixer/mixer.h +++ b/src/modules/systemlib/mixer/mixer.h @@ -212,6 +212,24 @@ protected: */ static int scale_check(struct mixer_scaler_s &scaler); + /** + * Find a tag + * + * @param buf The buffer to operate on. + * @param buflen length of the buffer. + * @param tag character to search for. + */ + static const char * findtag(const char *buf, unsigned &buflen, char tag); + + /** + * Skip a line + * + * @param buf The buffer to operate on. + * @param buflen length of the buffer. + * @return 0 / OK if a line could be skipped, 1 else + */ + static const char * skipline(const char *buf, unsigned &buflen); + private: }; @@ -241,6 +259,11 @@ public: void reset(); /** + * Count the mixers in the group. + */ + unsigned count(); + + /** * Adds mixers to the group based on a text description in a buffer. * * Mixer definitions begin with a single capital letter and a colon. diff --git a/src/modules/systemlib/mixer/mixer_group.cpp b/src/modules/systemlib/mixer/mixer_group.cpp index 1dbc512cd..3ed99fba0 100644 --- a/src/modules/systemlib/mixer/mixer_group.cpp +++ b/src/modules/systemlib/mixer/mixer_group.cpp @@ -111,6 +111,20 @@ MixerGroup::mix(float *outputs, unsigned space) return index; } +unsigned +MixerGroup::count() +{ + Mixer *mixer = _first; + unsigned index = 0; + + while ((mixer != nullptr)) { + mixer = mixer->_next; + index++; + } + + return index; +} + void MixerGroup::groups_required(uint32_t &groups) { @@ -170,6 +184,7 @@ MixerGroup::load_from_buf(const char *buf, unsigned &buflen) /* only adjust buflen if parsing was successful */ buflen = resid; + debug("SUCCESS - buflen: %d", buflen); } else { /* diff --git a/src/modules/systemlib/mixer/mixer_load.c b/src/modules/systemlib/mixer/mixer_load.c index 18c4e474a..a55ddf8a3 100644 --- a/src/modules/systemlib/mixer/mixer_load.c +++ b/src/modules/systemlib/mixer/mixer_load.c @@ -38,22 +38,22 @@ */ #include <nuttx/config.h> -#include <systemlib/err.h> #include <string.h> #include <stdio.h> #include <ctype.h> #include "mixer_load.h" -int load_mixer_file(const char *fname, char *buf) +int load_mixer_file(const char *fname, char *buf, unsigned maxlen) { FILE *fp; char line[120]; /* open the mixer definition file */ fp = fopen(fname, "r"); - if (fp == NULL) - err(1, "can't open %s", fname); + if (fp == NULL) { + return 1; + } /* read valid lines from the file into a buffer */ buf[0] = '\0'; @@ -70,7 +70,7 @@ int load_mixer_file(const char *fname, char *buf) /* compact whitespace in the buffer */ char *t, *f; - for (f = buf; *f != '\0'; f++) { + for (f = line; *f != '\0'; f++) { /* scan for space characters */ if (*f == ' ') { /* look for additional spaces */ @@ -87,8 +87,9 @@ int load_mixer_file(const char *fname, char *buf) } /* if the line is too long to fit in the buffer, bail */ - if ((strlen(line) + strlen(buf) + 1) >= sizeof(buf)) - break; + if ((strlen(line) + strlen(buf) + 1) >= maxlen) { + return 1; + } /* add the line to the buffer */ strcat(buf, line); diff --git a/src/modules/systemlib/mixer/mixer_load.h b/src/modules/systemlib/mixer/mixer_load.h index b2327a4f7..4b7091d5b 100644 --- a/src/modules/systemlib/mixer/mixer_load.h +++ b/src/modules/systemlib/mixer/mixer_load.h @@ -44,7 +44,7 @@ __BEGIN_DECLS -__EXPORT int load_mixer_file(const char *fname, char *buf); +__EXPORT int load_mixer_file(const char *fname, char *buf, unsigned maxlen); __END_DECLS diff --git a/src/modules/systemlib/mixer/mixer_multirotor.cpp b/src/modules/systemlib/mixer/mixer_multirotor.cpp index 89afc272c..b89f341b6 100644 --- a/src/modules/systemlib/mixer/mixer_multirotor.cpp +++ b/src/modules/systemlib/mixer/mixer_multirotor.cpp @@ -205,11 +205,17 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl } if (used > (int)buflen) { - debug("multirotor spec used %d of %u", used, buflen); + debug("OVERFLOW: multirotor spec used %d of %u", used, buflen); return nullptr; } - buflen -= used; + buf = skipline(buf, buflen); + if (buf == nullptr) { + debug("no line ending, line is incomplete"); + return nullptr; + } + + debug("remaining in buf: %d, first char: %c", buflen, buf[0]); if (!strcmp(geomname, "4+")) { geometry = MultirotorMixer::QUAD_PLUS; diff --git a/src/modules/systemlib/mixer/mixer_simple.cpp b/src/modules/systemlib/mixer/mixer_simple.cpp index c8434f991..c3985b5de 100644 --- a/src/modules/systemlib/mixer/mixer_simple.cpp +++ b/src/modules/systemlib/mixer/mixer_simple.cpp @@ -55,7 +55,7 @@ #include "mixer.h" #define debug(fmt, args...) do { } while(0) -// #define debug(fmt, args...) do { printf("[mixer] " fmt "\n", ##args); } while(0) +//#define debug(fmt, args...) do { printf("[mixer] " fmt "\n", ##args); } while(0) SimpleMixer::SimpleMixer(ControlCallback control_cb, uintptr_t cb_handle, @@ -71,28 +71,6 @@ SimpleMixer::~SimpleMixer() free(_info); } -static const char * -findtag(const char *buf, unsigned &buflen, char tag) -{ - while (buflen >= 2) { - if ((buf[0] == tag) && (buf[1] == ':')) - return buf; - buf++; - buflen--; - } - return nullptr; -} - -static void -skipline(const char *buf, unsigned &buflen) -{ - const char *p; - - /* if we can find a CR or NL in the buffer, skip up to it */ - if ((p = (const char *)memchr(buf, '\r', buflen)) || (p = (const char *)memchr(buf, '\n', buflen))) - buflen -= (p - buf); -} - int SimpleMixer::parse_output_scaler(const char *buf, unsigned &buflen, mixer_scaler_s &scaler) { @@ -111,7 +89,12 @@ SimpleMixer::parse_output_scaler(const char *buf, unsigned &buflen, mixer_scaler debug("out scaler parse failed on '%s' (got %d, consumed %d)", buf, ret, n); return -1; } - skipline(buf, buflen); + + buf = skipline(buf, buflen); + if (buf == nullptr) { + debug("no line ending, line is incomplete"); + return -1; + } scaler.negative_scale = s[0] / 10000.0f; scaler.positive_scale = s[1] / 10000.0f; @@ -130,7 +113,7 @@ SimpleMixer::parse_control_scaler(const char *buf, unsigned &buflen, mixer_scale buf = findtag(buf, buflen, 'S'); if ((buf == nullptr) || (buflen < 16)) { - debug("contorl parser failed finding tag, ret: '%s'", buf); + debug("control parser failed finding tag, ret: '%s'", buf); return -1; } @@ -139,7 +122,12 @@ SimpleMixer::parse_control_scaler(const char *buf, unsigned &buflen, mixer_scale debug("control parse failed on '%s'", buf); return -1; } - skipline(buf, buflen); + + buf = skipline(buf, buflen); + if (buf == nullptr) { + debug("no line ending, line is incomplete"); + return -1; + } control_group = u[0]; control_index = u[1]; @@ -161,29 +149,17 @@ SimpleMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handle, c int used; const char *end = buf + buflen; - /* enforce that the mixer ends with space or a new line */ - for (int i = buflen - 1; i >= 0; i--) { - if (buf[i] == '\0') - continue; - - /* require a space or newline at the end of the buffer, fail on printable chars */ - if (buf[i] == ' ' || buf[i] == '\n' || buf[i] == '\r') { - /* found a line ending or space, so no split symbols / numbers. good. */ - break; - } else { - debug("simple parser rejected: No newline / space at end of buf. (#%d/%d: 0x%02x)", i, buflen-1, buf[i]); - 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); goto out; } - buflen -= used; + buf = skipline(buf, buflen); + if (buf == nullptr) { + debug("no line ending, line is incomplete"); + goto out; + } mixinfo = (mixer_simple_s *)malloc(MIXER_SIMPLE_SIZE(inputs)); |