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check array size and make decode functions boolean #20

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Feb 10, 2024
Merged

check array size and make decode functions boolean #20

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02f8911
templates: add checks for payload length and array size
bugobliterator Feb 10, 2024
dbb67a9
ensure using 3.3.4 version of empy
bugobliterator Feb 10, 2024
e8f8a8d
more complete checking of encode and decode errors
tridge Feb 10, 2024
f0916d2
move payload length check to top level decode function
tridge Feb 10, 2024
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2 changes: 1 addition & 1 deletion README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@
This project contains tools to generate C code for packing DroneCAN messages.

## Dependencies
* `pip install empy`
* `pip install empy==3.3.4`
* `pip install pexpect`

## How To Use
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11 changes: 9 additions & 2 deletions templates/msg.c.em
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Expand Up @@ -32,14 +32,21 @@ uint32_t @(msg_underscored_name)_encode(@(msg_c_type)* msg, uint8_t* buffer
return true if the decode is invalid
*/
bool @(msg_underscored_name)_decode(const CanardRxTransfer* transfer, @(msg_c_type)* msg) {
#if CANARD_ENABLE_TAO_OPTION
if (transfer->tao && (transfer->payload_len > @(msg_define_name.upper())_MAX_SIZE)) {
return true; /* invalid payload length */
}
#endif
uint32_t bit_ofs = 0;
_@(msg_underscored_name)_decode(transfer, &bit_ofs, msg,
if (_@(msg_underscored_name)_decode(transfer, &bit_ofs, msg,
#if CANARD_ENABLE_TAO_OPTION
transfer->tao
#else
true
#endif
);
)) {
return true; /* invalid payload */
}

const uint32_t byte_len = (bit_ofs+7U)/8U;
#if CANARD_ENABLE_TAO_OPTION
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27 changes: 20 additions & 7 deletions templates/msg.h.em
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Expand Up @@ -79,7 +79,7 @@ bool @(msg_underscored_name)_decode(const CanardRxTransfer* transfer, @(msg_c_ty
#if defined(CANARD_DSDLC_INTERNAL)
@{indent = 0}@{ind = ' '*indent}@
static inline void _@(msg_underscored_name)_encode(uint8_t* buffer, uint32_t* bit_ofs, @(msg_c_type)* msg, bool tao);
static inline void _@(msg_underscored_name)_decode(const CanardRxTransfer* transfer, uint32_t* bit_ofs, @(msg_c_type)* msg, bool tao);
static inline bool _@(msg_underscored_name)_decode(const CanardRxTransfer* transfer, uint32_t* bit_ofs, @(msg_c_type)* msg, bool tao);
void _@(msg_underscored_name)_encode(uint8_t* buffer, uint32_t* bit_ofs, @(msg_c_type)* msg, bool tao) {
@{indent += 1}@{ind = ' '*indent}@
@(ind)(void)buffer;
Expand Down Expand Up @@ -124,7 +124,11 @@ void _@(msg_underscored_name)_encode(uint8_t* buffer, uint32_t* bit_ofs, @(msg_c
@{indent -= 1}@{ind = ' '*indent}@
@(ind)}
@[ end if]@
@(ind)for (size_t i=0; i < msg->@(field.name).len; i++) {
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wtype-limits"
@(ind)const size_t @(field.name)_len = msg->@(field.name).len > @(field.type.max_size) ? @(field.type.max_size) : msg->@(field.name).len;
#pragma GCC diagnostic pop
@(ind)for (size_t i=0; i < @(field.name)_len; i++) {
@[ else]@
@(ind)for (size_t i=0; i < @(field.type.max_size); i++) {
@[ end if]@
Expand Down Expand Up @@ -160,13 +164,15 @@ void _@(msg_underscored_name)_encode(uint8_t* buffer, uint32_t* bit_ofs, @(msg_c
@{indent -= 1}@{ind = ' '*indent}@
@(ind)}

void _@(msg_underscored_name)_decode(const CanardRxTransfer* transfer, uint32_t* bit_ofs, @(msg_c_type)* msg, bool tao) {
/*
decode @(msg_underscored_name), return true on failure, false on success
*/
bool _@(msg_underscored_name)_decode(const CanardRxTransfer* transfer, uint32_t* bit_ofs, @(msg_c_type)* msg, bool tao) {
@{indent += 1}@{ind = ' '*indent}@
@(ind)(void)transfer;
@(ind)(void)bit_ofs;
@(ind)(void)msg;
@(ind)(void)tao;

@[ if msg_union]@
@(ind)@(union_msg_tag_uint_type_from_num_fields(len(msg_fields))) union_tag;
@(ind)canardDecodeScalar(transfer, *bit_ofs, @(union_msg_tag_bitlen_from_num_fields(len(msg_fields))), false, &union_tag);
Expand All @@ -182,7 +188,7 @@ void _@(msg_underscored_name)_decode(const CanardRxTransfer* transfer, uint32_t*
@{indent += 1}@{ind = ' '*indent}@
@[ end if]@
@[ if field.type.category == field.type.CATEGORY_COMPOUND]@
@(ind)_@(underscored_name(field.type))_decode(transfer, bit_ofs, &msg->@(field.name), @('tao' if (field == msg_fields[-1] or msg_union) else 'false'));
@(ind)if (_@(underscored_name(field.type))_decode(transfer, bit_ofs, &msg->@(field.name), @('tao' if (field == msg_fields[-1] or msg_union) else 'false'))) {return true;}
@[ elif field.type.category == field.type.CATEGORY_PRIMITIVE]@
@[ if field.type.kind == field.type.KIND_FLOAT and field.type.bitlen == 16]@
@(ind){
Expand Down Expand Up @@ -221,7 +227,7 @@ void _@(msg_underscored_name)_decode(const CanardRxTransfer* transfer, uint32_t*
@(ind)msg->@(field.name).len = 0;
@(ind)while ((transfer->payload_len*8) > *bit_ofs) {
@{indent += 1}@{ind = ' '*indent}@
@(ind)_@(underscored_name(field.type.value_type))_decode(transfer, bit_ofs, &msg->@(field_get_data(field))[msg->@(field.name).len], @[if field == msg_fields[-1] and field.type.value_type.get_min_bitlen() < 8]tao && i==msg->@(field.name).len@[else]false@[end if]@);
@(ind)if (_@(underscored_name(field.type.value_type))_decode(transfer, bit_ofs, &msg->@(field_get_data(field))[msg->@(field.name).len], @[if field == msg_fields[-1] and field.type.value_type.get_min_bitlen() < 8]tao && i==msg->@(field.name).len@[else]false@[end if]@)) {return true;}
@(ind)msg->@(field.name).len++;
@{indent -= 1}@{ind = ' '*indent}@
@(ind)}
Expand All @@ -232,6 +238,12 @@ void _@(msg_underscored_name)_decode(const CanardRxTransfer* transfer, uint32_t*
@[ end if]@
@{indent += 1}@{ind = ' '*indent}@
@[ end if]@
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wtype-limits"
@(ind)if (msg->@(field.name).len > @(field.type.max_size)) {
@(ind) return true; /* invalid value */
@(ind)}
#pragma GCC diagnostic pop
@(ind)for (size_t i=0; i < msg->@(field.name).len; i++) {
@[ else]@
@(ind)for (size_t i=0; i < @(field.type.max_size); i++) {
Expand All @@ -249,7 +261,7 @@ void _@(msg_underscored_name)_decode(const CanardRxTransfer* transfer, uint32_t*
@[ end if]@
@(ind)*bit_ofs += @(field.type.value_type.bitlen);
@[ elif field.type.value_type.category == field.type.value_type.CATEGORY_COMPOUND]@
@(ind)_@(underscored_name(field.type.value_type))_decode(transfer, bit_ofs, &msg->@(field_get_data(field))[i], @[if field == msg_fields[-1] and field.type.value_type.get_min_bitlen() < 8]tao && i==msg->@(field.name).len@[else]false@[end if]@);
@(ind)if (_@(underscored_name(field.type.value_type))_decode(transfer, bit_ofs, &msg->@(field_get_data(field))[i], @[if field == msg_fields[-1] and field.type.value_type.get_min_bitlen() < 8]tao && i==msg->@(field.name).len@[else]false@[end if]@)) {return true;}
@[ end if]@
@{indent -= 1}@{ind = ' '*indent}@
@(ind)}
Expand All @@ -271,6 +283,7 @@ void _@(msg_underscored_name)_decode(const CanardRxTransfer* transfer, uint32_t*
@{indent -= 1}@{ind = ' '*indent}@
@(ind)}
@[ end if]@
@(ind)return false; /* success */
@{indent -= 1}@{ind = ' '*indent}@
@(ind)}
#endif
Expand Down
8 changes: 6 additions & 2 deletions templates/test_msg.cpp.em
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Original file line number Diff line number Diff line change
Expand Up @@ -117,7 +117,10 @@ int main() {
.priority = 0,
.source_node_id = 125,
};
@(msg_underscored_name)_decode(&rx_transfer, &decoded_msg);
if (@(msg_underscored_name)_decode(&rx_transfer, &decoded_msg)) {
std::cout << "decode failed" << std::endl;
return 1;
}

// compare decoded message with original message
data_len = @(msg_underscored_name)_encode(&decoded_msg, buffer);
Expand All @@ -129,7 +132,8 @@ int main() {
if (hex_str.compare(reencoded_hex_str) == 0) {
std::cout << "Messages are equal" << std::endl;
} else {
std::cout << "Messages are not equal" << std::endl;
std::cout << "Messages are not equal" << std::endl;
return 1;
}

return 0;
Expand Down
2 changes: 1 addition & 1 deletion tests/test_linux.sh
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Expand Up @@ -5,7 +5,7 @@ set -e
set -x

# test compiler on linux
python3 -m pip install -U empy pexpect dronecan
python3 -m pip install -U empy==3.3.4 pexpect dronecan
rm -rf DSDL
git clone https://github.com/DroneCAN/DSDL

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2 changes: 1 addition & 1 deletion tests/test_regression.sh
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Expand Up @@ -5,7 +5,7 @@ set -e
set -x

# test compiler on linux
python3 -m pip install -U empy pexpect dronecan
python3 -m pip install -U empy==3.3.4 pexpect dronecan
rm -rf DSDL

git clone https://github.com/DroneCAN/DSDL
Expand Down
2 changes: 1 addition & 1 deletion tests/test_windows.cmd
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
# simple test of DSDL compilation for windows

python3 -m pip install -U empy pexpect dronecan
python3 -m pip install -U empy==3.3.4 pexpect dronecan

git clone https://github.com/DroneCAN/DSDL

Expand Down
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