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Fix serial communication error handling (#107)
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* Fix finalization on error

* Fix serial date error handling

* Fix buffer overrun
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@at-wat
at-wat authored May 1, 2019
1 parent 490c36c commit 99e3f1e
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Showing 3 changed files with 46 additions and 40 deletions.
26 changes: 17 additions & 9 deletions src/serial.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -53,14 +53,14 @@ double SER_BAUDRATE;
// Unix用コード
#include <sys/select.h>
#include <sys/termios.h>
int g_device_port;
int g_device_port = 0;
struct termios g_oldtio;

#else

// Windows用コード
#include <windows.h>
HANDLE g_hdevices;
HANDLE g_hdevices = NULL;
DCB g_olddcb;
COMMTIMEOUTS g_oldcto;

Expand Down Expand Up @@ -362,13 +362,21 @@ int serial_close(void)
#if !defined(__MINGW32__)
// Unix用
// 設定を元に戻す
tcsetattr(g_device_port, TCSANOW, &g_oldtio);
close(g_device_port);
if (g_device_port != 0)
{
tcsetattr(g_device_port, TCSANOW, &g_oldtio);
close(g_device_port);
g_device_port = 0;
}
#else
// Windows用
SetCommState(g_hdevices, &g_olddcb); // シリアルポートの状態を設定
SetCommTimeouts(g_hdevices, &g_oldcto); // タイムアウトの状態を設定
CloseHandle(g_hdevices);
if (g_hdevices != NULL)
{
SetCommState(g_hdevices, &g_olddcb); // シリアルポートの状態を設定
SetCommTimeouts(g_hdevices, &g_oldcto); // タイムアウトの状態を設定
CloseHandle(g_hdevices);
g_hdevices = NULL;
}
#endif // !defined(__MINGW32__)

return 1;
Expand All @@ -381,7 +389,7 @@ void serial_flush_in(void)
tcflush(g_device_port, TCIFLUSH);
#else
// Windows用
char buf[4000];
char buf[4096];

DWORD len;
DWORD ret;
Expand Down Expand Up @@ -422,7 +430,7 @@ void serial_flush_out(void)
// シリアルポートからの受信処理
int serial_recieve(int (*serial_event)(char *, int, double, void *), void *data)
{
char buf[4000];
char buf[4096];
double receive_time;
int retval;

Expand Down
36 changes: 22 additions & 14 deletions src/ypprotocol.c
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Original file line number Diff line number Diff line change
Expand Up @@ -37,9 +37,15 @@
#include <utility.h>
#include <yprintf.h>

#define RECEIVE_BUFFER_SIZE 2048

int ss_receive(char *buf, int len, double receive_time, void *data)
{
buf[len] = 0;
if (len + strlen((char *)data) > RECEIVE_BUFFER_SIZE)
{
return -3;
}
strcat((char *)data, buf);
if (strstr((char *)data, "\n\n"))
{
Expand All @@ -51,7 +57,7 @@ int ss_receive(char *buf, int len, double receive_time, void *data)
int set_baudrate(int baud)
{
/* Send & Recive Buffer */
char buf[2048];
char buf[RECEIVE_BUFFER_SIZE];
/* Temporary */

strcpy(buf, "\n\n\n\n");
Expand All @@ -63,7 +69,8 @@ int set_baudrate(int baud)
serial_write(buf, strlen(buf));

buf[0] = 0;
serial_recieve(ss_receive, buf);
if (serial_recieve(ss_receive, buf) != -2)
return 0;

if (strstr(buf, "\n00P\n") != NULL)
{
Expand All @@ -84,6 +91,10 @@ int set_baudrate(int baud)
int vv_receive(char *buf, int len, double receive_time, void *data)
{
buf[len] = 0;
if (len + strlen((char *)data) > RECEIVE_BUFFER_SIZE)
{
return -3;
}
strcat((char *)data, buf);
if (strstr((char *)data, "\n\n"))
{
Expand All @@ -100,7 +111,7 @@ int vv_receive(char *buf, int len, double receive_time, void *data)
int get_version(Ver_t *apVer)
{
/* Send & Recive Buffer */
char buf[2048], *readpos;
char buf[RECEIVE_BUFFER_SIZE], *readpos;
/* Temporary */
char *tmp, *lf, *val;
char *tag, *wbuf;
Expand All @@ -117,11 +128,10 @@ int get_version(Ver_t *apVer)
serial_write(buf, strlen(buf));

buf[0] = 0;
serial_recieve(vv_receive, buf);
if (serial_recieve(vv_receive, buf) != -2)
return 0;
if (strstr(buf, "\n00P\n") == 0)
{
return 0;
}

while (1)
{
Expand Down Expand Up @@ -176,7 +186,7 @@ int get_version(Ver_t *apVer)
int get_parameter(Param_t *apParam)
{
/* Send & Recive Buffer */
char buf[2048], *readpos;
char buf[RECEIVE_BUFFER_SIZE], *readpos;
/* Temporary */
char *tmp, *lf, *val;
char *tag, *wbuf;
Expand All @@ -193,11 +203,10 @@ int get_parameter(Param_t *apParam)
serial_write(buf, strlen(buf));

buf[0] = 0;
serial_recieve(vv_receive, buf);
if (serial_recieve(vv_receive, buf) != -2)
return 0;
if (strstr(buf, "\n00P\n") == 0)
{
return 0;
}

while (1)
{
Expand Down Expand Up @@ -239,7 +248,7 @@ int get_parameter(Param_t *apParam)
int get_embedded_param(char *param)
{
/* Send & Recive Buffer */
char buf[2048], *readpos;
char buf[RECEIVE_BUFFER_SIZE], *readpos;
/* Temporary */
char *lf;

Expand All @@ -255,11 +264,10 @@ int get_embedded_param(char *param)
serial_write(buf, strlen(buf));

buf[0] = 0;
serial_recieve(vv_receive, buf);
if (serial_recieve(vv_receive, buf) != -2)
return 0;
if (strstr(buf, "\n00P\n") == 0)
{
return 0;
}

while (1)
{
Expand Down
24 changes: 7 additions & 17 deletions src/ypspur-coordinator.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -336,7 +336,7 @@ int main(int argc, char *argv[])
if (!temp_paramfile)
{
yprintf(OUTPUT_LV_ERROR, "Error: Failed to create temporary file.\n");
return 0;
break;
}
if (!get_embedded_param(param))
{
Expand Down Expand Up @@ -364,7 +364,7 @@ int main(int argc, char *argv[])
if (!set_paramptr(temp_paramfile))
{
yprintf(OUTPUT_LV_ERROR, "Error: Cannot use embedded parameter.\n");
return 0;
break;
}
}
else
Expand All @@ -373,7 +373,7 @@ int main(int argc, char *argv[])
if (!set_param(param->parameter_filename, paramfile))
{
yprintf(OUTPUT_LV_ERROR, "Error: Cannot load parameter file.\n");
return 0;
break;
}
}
{
Expand Down Expand Up @@ -403,10 +403,6 @@ int main(int argc, char *argv[])
{
// 設定失敗
yprintf(OUTPUT_LV_WARNING, "Error: Failed to change baudrate.\n");

serial_close();

quit = 0;
break; // quit=0でbreakしたら異常終了と判断
}
if (ret == 4)
Expand All @@ -433,13 +429,8 @@ int main(int argc, char *argv[])
}

if (!(option(OPTION_PARAM_CONTROL)))
{
if (apply_robot_params() < 1)
{
serial_close();
break;
}
}

/* サーボをかける */
SpurUserParamsPtr spur;
Expand Down Expand Up @@ -509,11 +500,6 @@ int main(int argc, char *argv[])
}

/* 終了処理 */
if (!(option(OPTION_WITHOUT_DEVICE)))
{
serial_close();
}

if (update_thread_en)
{
pthread_cancel(update_thread);
Expand All @@ -539,6 +525,7 @@ int main(int argc, char *argv[])
yp_usleep(500000);
if (!(option(OPTION_WITHOUT_DEVICE)))
{
serial_close();
while (!serial_tryconnect(param->device_name))
{
yp_usleep(200000);
Expand All @@ -551,6 +538,9 @@ int main(int argc, char *argv[])
break;
} while (1);

if (!(option(OPTION_WITHOUT_DEVICE)))
serial_close();

#ifdef HAVE_SSM
/* SSM終了処理 */
if (!option(OPTION_WITHOUT_SSM))
Expand Down

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