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Fixes for fastSyncRead() timeout and erronous packets that cause firmware to crash #136

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Fixes for fastSyncRead() timeout and erronous packets that cause firmware to crash #136

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b98fa26
Ensure parse state is set to idle on timeout so info_rx_packet_ is re…
jeevan-vexev Jul 4, 2024
4c5ca18
Ensure xel_index and buf_index are also set to zero when starting fro…
jeevan-vexev Jul 5, 2024
13b035f
Additional fixes to fix crashing.
jeevan-vexev Jul 17, 2024
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31 changes: 15 additions & 16 deletions src/dxl_c/protocol.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -695,12 +695,20 @@ static DXLLibErrorCode_t fast_parse_dxl2_0_packet(InfoToParseDXLPacket_t* p_pars
p_parse_packet->header_cnt = 0;
}
p_parse_packet->header[p_parse_packet->header_cnt++] = recv_data;

// Check if the header is correct.
if(p_parse_packet->header_cnt == 3){
if(p_parse_packet->header[0] == 0xFF
&& p_parse_packet->header[1] == 0xFF
&& p_parse_packet->header[2] == 0xFD){
// Start of packet found! Reset key variables.
p_parse_packet->recv_param_len = 0;
p_parse_packet->calculated_crc = 0;
p_parse_packet->xel_index = 0;
p_parse_packet->buf_index = 0;
p_parse_packet->fast_param_state = DXL_FAST_PARAM_ID;
p_parse_packet->err_idx = 0;

update_dxl_crc(&p_parse_packet->calculated_crc, 0xFF);
update_dxl_crc(&p_parse_packet->calculated_crc, 0xFF);
update_dxl_crc(&p_parse_packet->calculated_crc, 0xFD);
Expand Down Expand Up @@ -755,23 +763,17 @@ static DXLLibErrorCode_t fast_parse_dxl2_0_packet(InfoToParseDXLPacket_t* p_pars
case DXL2_0_PACKET_PARSING_STATE_INST:
p_parse_packet->inst_idx = recv_data;
update_dxl_crc(&p_parse_packet->calculated_crc, recv_data);
p_parse_packet->err_idx = 0;
p_parse_packet->recv_param_len = 0;

if(recv_data == DXL_INST_STATUS){
p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_ERROR;
if(p_parse_packet->packet_len < 4){ // 4 = Instruction(1)+Error(1)+CRC(2)
ret = DXL_LIB_ERROR_LENGTH;
p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_IDLE;
}else{
p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_ERROR;
}
}else{
if(p_parse_packet->packet_len == 3){ // 3 = Instruction(1)+CRC(2)
p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_CRC_L;
}else{
p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_PARAM;
}
ret = DXL_LIB_ERROR_LENGTH;
p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_IDLE;
}
break;

Expand All @@ -782,16 +784,13 @@ static DXLLibErrorCode_t fast_parse_dxl2_0_packet(InfoToParseDXLPacket_t* p_pars
p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_CRC_L;
break;
}
p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_PARAM;

// p_parse_packet->fast_param_state = DXL_FAST_PARAM_ERROR;
p_parse_packet->xel_index = 0;
p_parse_packet->buf_index = 0;
if (nullptr != sync_read)
if (nullptr != sync_read) {
sync_read->p_xels[0].error = recv_data;
else if (nullptr != bulk_read)
}
else if (nullptr != bulk_read) {
bulk_read->p_xels[0].error = recv_data;
p_parse_packet->fast_param_state = DXL_FAST_PARAM_ID;
}
p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_PARAM;
break;

case DXL2_0_PACKET_PARSING_STATE_PARAM:
Expand Down
1 change: 1 addition & 0 deletions src/utility/master.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1257,6 +1257,7 @@ const InfoToParseDXLPacket_t* Master::fastRxStatusPacket(InfoSyncReadInst_t* syn
}
if (millis()-pre_time_ms >= timeout_ms) {
err = DXL_LIB_ERROR_TIMEOUT;
info_rx_packet_.parse_state = DXL2_0_PACKET_PARSING_STATE_IDLE;
break;
}
}
Expand Down