DroneCAN: fixed handling of bad multi-frame pkts and check array bounds

.github/workflows/test_sitl_periph.yml

@@ -185,6 +185,7 @@ jobs:
       - name: run dronecan dsdlc generator test
         run: |
           PATH="/github/home/.local/bin:$PATH"
+          python -m pip install --upgrade dronecan
           python modules/DroneCAN/dronecan_dsdlc/dronecan_dsdlc.py -O dsdlc_generated modules/DroneCAN/DSDL/uavcan modules/DroneCAN/DSDL/dronecan modules/DroneCAN/DSDL/com --run-test
 
       - name: build sitl_periph_universal

Tools/AP_Periph/can.cpp

@@ -434,7 +434,10 @@ void AP_Periph_FW::handle_allocation_response(CanardInstance* canard_instance, C
     // Copying the unique ID from the message
     uavcan_protocol_dynamic_node_id_Allocation msg;
 
-    uavcan_protocol_dynamic_node_id_Allocation_decode(transfer, &msg);
+    if (uavcan_protocol_dynamic_node_id_Allocation_decode(transfer, &msg)) {
+        // failed decode
+        return;
+    }
 
     // Obtaining the local unique ID
     uint8_t my_unique_id[sizeof(msg.unique_id.data)];

Tools/ardupilotwaf/dronecangen.py

@@ -9,6 +9,7 @@
 import os
 import os.path
 from xml.etree import ElementTree as et
+import subprocess
 
 class dronecangen(Task.Task):
     """generate uavcan header files"""
@@ -21,9 +22,10 @@ def run(self):
         src = self.env.get_flat('SRC')
         dsdlc = self.env.get_flat("DC_DSDL_COMPILER")
 
-        ret = self.exec_command(['{}'.format(python),
-                                 '{}'.format(dsdlc),
-                                 '-O{}'.format(out)] + [x.abspath() for x in self.inputs])
+        cmd = ['{}'.format(python),
+               '{}'.format(dsdlc),
+               '-O{}'.format(out)] + [x.abspath() for x in self.inputs]
+        ret = self.exec_command(cmd)
         if ret != 0:
             # ignore if there was a signal to the interpreter rather
             # than a real error in the script. Some environments use a
@@ -32,6 +34,9 @@ def run(self):
                 Logs.warn('dronecangen crashed with code: {}'.format(ret))
                 ret = 0
             else:
+                Logs.warn('dronecangen: cmd=%s ' % str(cmd))
+                # re-run command with stdout visible to see errors
+                subprocess.call(cmd)
                 Logs.error('dronecangen returned {} error code'.format(ret))
         return ret
 

wscript

@@ -725,7 +725,7 @@ def _build_dynamic_sources(bld):
     if (bld.get_board().with_can or bld.env.HAL_NUM_CAN_IFACES) and not bld.env.AP_PERIPH:
         bld(
             features='dronecangen',
-            source=bld.srcnode.ant_glob('modules/DroneCAN/DSDL/* libraries/AP_DroneCAN/dsdl/*', dir=True, src=False),
+            source=bld.srcnode.ant_glob('modules/DroneCAN/DSDL/[a-z]* libraries/AP_DroneCAN/dsdl/[a-z]*', dir=True, src=False),
             output_dir='modules/DroneCAN/libcanard/dsdlc_generated/',
             name='dronecan',
             export_includes=[