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Merged
flipflip8952 merged 6 commits into from
Mar 12, 2026
Merged

parser: fix SBF detector crashing on bad data, add tests, update CI config #189

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070b451
fix SBF detector crashing on bad data, add tests
flipflip8952 Mar 12, 2026
212bf5f
codenazi
flipflip8952 Mar 12, 2026
7e2577b
update ci
flipflip8952 Mar 12, 2026
98c838c
fix ci warnings?
flipflip8952 Mar 12, 2026
3fc1839
more ci updates
flipflip8952 Mar 12, 2026
cd37010
maybe..
flipflip8952 Mar 12, 2026
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24 changes: 12 additions & 12 deletions .github/workflows/ci.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -19,13 +19,13 @@ jobs:
shell: bash
steps:
- name: Checkout
uses: actions/checkout@v4
uses: actions/checkout@v6
- name: Build
run: |
git config --global --add safe.directory ${GITHUB_WORKSPACE}
./docker/ci.sh
- name: Artefacts
uses: actions/upload-artifact@v4
uses: actions/upload-artifact@v6
with:
name: fpsdk_common_versions_trixie
path: build/trixie-ci_build_toplevel_release_noros/*/*_versions.txt
Expand All @@ -39,13 +39,13 @@ jobs:
shell: bash
steps:
- name: Checkout
uses: actions/checkout@v4
uses: actions/checkout@v6
- name: Build
run: |
git config --global --add safe.directory ${GITHUB_WORKSPACE}
./docker/ci.sh
- name: Artefacts
uses: actions/upload-artifact@v4
uses: actions/upload-artifact@v6
with:
name: fpsdk_common_versions_noetic
path: build/noetic-ci_build_toplevel_release_ros1/*/*_versions.txt
Expand All @@ -59,13 +59,13 @@ jobs:
shell: bash
steps:
- name: Checkout
uses: actions/checkout@v4
uses: actions/checkout@v6
- name: CI
run: |
git config --global --add safe.directory ${GITHUB_WORKSPACE}
./docker/ci.sh
- name: Artefacts
uses: actions/upload-artifact@v4
uses: actions/upload-artifact@v6
with:
name: fpsdk_common_versions_humble
path: build/humble-ci_build_toplevel_release_ros2/*/*_versions.txt
Expand All @@ -79,13 +79,13 @@ jobs:
shell: bash
steps:
- name: Checkout
uses: actions/checkout@v4
uses: actions/checkout@v6
- name: CI
run: |
git config --global --add safe.directory ${GITHUB_WORKSPACE}
./docker/ci.sh
- name: Artefacts
uses: actions/upload-artifact@v4
uses: actions/upload-artifact@v6
with:
name: fpsdk_common_versions_jazzy
path: build/jazzy-ci_build_toplevel_release_ros2/*/*_versions.txt
Expand All @@ -99,7 +99,7 @@ jobs:
- ci-fpsdk-jazzy
steps:
- name: Checkout
uses: actions/checkout@v4
uses: actions/checkout@v6
- name: Login
uses: docker/login-action@v3
with:
Expand Down Expand Up @@ -142,12 +142,12 @@ jobs:
id-token: write
steps:
- name: Checkout
uses: actions/checkout@v4
uses: actions/checkout@v6

##### Get artefacts from build jobs

- name: Get build artefacts
uses: actions/download-artifact@v5
uses: actions/download-artifact@v8
with:
path: build-artefacts # See Doxyfile and Makefile
# We'll get:
Expand Down Expand Up @@ -176,7 +176,7 @@ jobs:
# https://github.com/actions/upload-pages-artifact (This, not actions/upload-artifact, which doesn't work
# for pages deployment. Both actions make the artefact show up as a job artefact.
- name: Upload pages artefact
uses: actions/upload-pages-artifact@v3
uses: actions/upload-pages-artifact@v4
with:
path: github-pages

Expand Down
16 changes: 8 additions & 8 deletions .github/workflows/docker.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -12,9 +12,9 @@ jobs:
runs-on: ubuntu-latest
steps:
- name: Checkout
uses: actions/checkout@v4
uses: actions/checkout@v6
- name: Login
uses: docker/login-action@v3
uses: docker/login-action@v4
with:
registry: ghcr.io
username: ${{ github.actor }}
Expand Down Expand Up @@ -45,9 +45,9 @@ jobs:
runs-on: ubuntu-latest
steps:
- name: Checkout
uses: actions/checkout@v4
uses: actions/checkout@v6
- name: Login
uses: docker/login-action@v3
uses: docker/login-action@v4
with:
registry: ghcr.io
username: ${{ github.actor }}
Expand Down Expand Up @@ -79,9 +79,9 @@ jobs:
runs-on: ubuntu-latest
steps:
- name: Checkout
uses: actions/checkout@v4
uses: actions/checkout@v6
- name: Login
uses: docker/login-action@v3
uses: docker/login-action@v4
with:
registry: ghcr.io
username: ${{ github.actor }}
Expand Down Expand Up @@ -113,9 +113,9 @@ jobs:
runs-on: ubuntu-latest
steps:
- name: Checkout
uses: actions/checkout@v4
uses: actions/checkout@v6
- name: Login
uses: docker/login-action@v3
uses: docker/login-action@v4
with:
registry: ghcr.io
username: ${{ github.actor }}
Expand Down
4 changes: 2 additions & 2 deletions fpsdk_common/src/parser.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -767,9 +767,9 @@ static int IsSbfMessage(const uint8_t* buf, const std::size_t size)
return WAIT;
}

// // Limit message size
// Limit message size, check constraints
const std::size_t message_size = ((uint16_t)buf[6] | ((uint16_t)buf[7] << 8));
if (message_size > MAX_SBF_SIZE) {
if ((message_size > MAX_SBF_SIZE) || (message_size < SBF_HEAD_SIZE) || ((message_size % 4) != 0)) {
return NADA;
}

Expand Down
Binary file added fpsdk_common/test/data/test_data_sbf.bin
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Binary file not shown.
10 changes: 10 additions & 0 deletions fpsdk_common/test/data/test_data_sbf.cpp
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@@ -0,0 +1,10 @@
// clang-format off
static const std::vector<uint8_t> TEST_DATA_SBF_BIN = {
0x24, 0x40, 0x89, 0x0a, 0xa7, 0x4f, 0x60, 0x00, 0x08, 0xce, 0xa8, 0x0d, 0x58, 0x09, 0x01, 0x00, 0xfa, 0x95, 0x70, 0xa4, 0x2b, 0x79, 0xea, 0x3f, 0xdd, 0x71, 0x61, 0x0d, 0xd9, 0xe0, 0xc2, 0x3f,
0xce, 0x8c, 0xd1, 0x80, 0x61, 0xb5, 0x7c, 0x40, 0x4a, 0xf5, 0x3f, 0x42, 0x58, 0x73, 0xa2, 0x39, 0xfb, 0xd2, 0xe1, 0x39, 0xb8, 0x9f, 0x85, 0x39, 0xf9, 0x02, 0x95, 0xd0, 0xbe, 0xe3, 0x61, 0xe6,
0xf8, 0x8f, 0xc4, 0xbf, 0x40, 0xd7, 0x25, 0x3e, 0x00, 0x00, 0x29, 0x00, 0xff, 0xff, 0xff, 0xff, 0x05, 0x49, 0x22, 0x50, 0x01, 0x00, 0x00, 0x00, 0x32, 0x00, 0xc5, 0x00, 0x2e, 0x01, 0x50, 0x00,
0x24, 0x40, 0x06, 0x37, 0x12, 0x17, 0x38, 0x00, 0x08, 0xce, 0xa8, 0x0d, 0x58, 0x09, 0x01, 0x00, 0x46, 0xce, 0x12, 0x3f, 0x20, 0x8a, 0xcc, 0x3e, 0xbd, 0x2a, 0x12, 0x40, 0xfe, 0x75, 0x73, 0x3f,
0x5c, 0x76, 0x8c, 0xbb, 0xca, 0x48, 0xc6, 0x3d, 0x5f, 0x98, 0x87, 0x3d, 0x06, 0x8a, 0x89, 0x3e, 0xbc, 0x12, 0x35, 0x3e, 0x7c, 0x84, 0xa8, 0x3f, 0x24, 0x40, 0x44, 0x85, 0x14, 0x17, 0x38, 0x00,
0x08, 0xce, 0xa8, 0x0d, 0x58, 0x09, 0x01, 0x00, 0x77, 0x08, 0xdd, 0x37, 0x85, 0xd7, 0x98, 0x37, 0xac, 0xbb, 0x49, 0x38, 0xcf, 0x28, 0x1c, 0x38, 0xd2, 0x00, 0x39, 0xb5, 0x5e, 0x0e, 0x04, 0xb5,
0xce, 0xd5, 0x7e, 0x35, 0xcd, 0x1d, 0xc6, 0x35, 0xe0, 0x2f, 0xcd, 0x35, 0xd3, 0x46, 0x01, 0x38
};
41 changes: 41 additions & 0 deletions fpsdk_common/test/parser_test.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -35,6 +35,7 @@ using namespace fpsdk::common::parser;
#include "data/test_data_nmea.cpp"
#include "data/test_data_novb.cpp"
#include "data/test_data_rtcm3.cpp"
#include "data/test_data_sbf.cpp"
#include "data/test_data_spartn.cpp"
#include "data/test_data_ubx.cpp"

Expand Down Expand Up @@ -368,6 +369,46 @@ TEST_F(ParserTest, SPARTN)

// ---------------------------------------------------------------------------------------------------------------------

TEST_F(ParserTest, SBF)
{
Parser parser;
EXPECT_TRUE( // clang-format off
TestLog(parser, TEST_DATA_SBF_BIN, {
{ "SBF-PVTGEODETIC", {
0x24, 0x40, 0x89, 0x0a, 0xa7, 0x4f, 0x60, 0x00, 0x08, 0xce, 0xa8, 0x0d, 0x58, 0x09, 0x01, 0x00,
0xfa, 0x95, 0x70, 0xa4, 0x2b, 0x79, 0xea, 0x3f, 0xdd, 0x71, 0x61, 0x0d, 0xd9, 0xe0, 0xc2, 0x3f,
0xce, 0x8c, 0xd1, 0x80, 0x61, 0xb5, 0x7c, 0x40, 0x4a, 0xf5, 0x3f, 0x42, 0x58, 0x73, 0xa2, 0x39,
0xfb, 0xd2, 0xe1, 0x39, 0xb8, 0x9f, 0x85, 0x39, 0xf9, 0x02, 0x95, 0xd0, 0xbe, 0xe3, 0x61, 0xe6,
0xf8, 0x8f, 0xc4, 0xbf, 0x40, 0xd7, 0x25, 0x3e, 0x00, 0x00, 0x29, 0x00, 0xff, 0xff, 0xff, 0xff,
0x05, 0x49, 0x22, 0x50, 0x01, 0x00, 0x00, 0x00, 0x32, 0x00, 0xc5, 0x00, 0x2e, 0x01, 0x50, 0x00 } },
{ "SBF-POSCOVGEODETIC", {
0x24, 0x40, 0x06, 0x37, 0x12, 0x17, 0x38, 0x00, 0x08, 0xce, 0xa8, 0x0d, 0x58, 0x09, 0x01, 0x00,
0x46, 0xce, 0x12, 0x3f, 0x20, 0x8a, 0xcc, 0x3e, 0xbd, 0x2a, 0x12, 0x40, 0xfe, 0x75, 0x73, 0x3f,
0x5c, 0x76, 0x8c, 0xbb, 0xca, 0x48, 0xc6, 0x3d, 0x5f, 0x98, 0x87, 0x3d, 0x06, 0x8a, 0x89, 0x3e,
0xbc, 0x12, 0x35, 0x3e, 0x7c, 0x84, 0xa8, 0x3f } },
{ "SBF-VELCOVGEODETIC", {
0x24, 0x40, 0x44, 0x85, 0x14, 0x17, 0x38, 0x00, 0x08, 0xce, 0xa8, 0x0d, 0x58, 0x09, 0x01, 0x00,
0x77, 0x08, 0xdd, 0x37, 0x85, 0xd7, 0x98, 0x37, 0xac, 0xbb, 0x49, 0x38, 0xcf, 0x28, 0x1c, 0x38,
0xd2, 0x00, 0x39, 0xb5, 0x5e, 0x0e, 0x04, 0xb5, 0xce, 0xd5, 0x7e, 0x35, 0xcd, 0x1d, 0xc6, 0x35,
0xe0, 0x2f, 0xcd, 0x35, 0xd3, 0x46, 0x01, 0x38 } }
}, {
})); // clang-format on

TestDetector({ 0x24, 0x40, 0xff, 0xd1, 0xa1, 0x0f, 0x20, 0x00, 0xc0, 0xf8, 0xa7, 0x0d, 0x58, 0x09, 0x29, 0x00, 0x49,
0x00, 0x22, 0x00, 0x26, 0x00, 0x3e, 0x00, 0xbf, 0xfa, 0xbc, 0x40, 0x1b, 0x6d, 0x22, 0x41 });

TestBadMessage({ 0x24, 0x40, 0xfe, 0xd1, 0xa1, 0x0f, 0x20, 0x00, 0xc0, 0xf8, 0xa7, 0x0d, 0x58, 0x09, 0x29, 0x00,
0x49, 0x00, 0x22, 0x00, 0x26, 0x00, 0x3e, 0x00, 0xbf, 0xfa, 0xbc, 0x40, 0x1b, 0x6d, 0x22, 0x41 }); // bad crc
TestBadMessage({ 0x24, 0x40, 0xff, 0xd1, 0xa1, 0x0f, 0x00, 0x00, 0xc0, 0xf8, 0xa7, 0x0d, 0x58, 0x09, 0x29, 0x00,
0x49, 0x00, 0x22, 0x00, 0x26, 0x00, 0x3e, 0x00, 0xbf, 0xfa, 0xbc, 0x40, 0x1b, 0x6d, 0x22,
0x41 }); // length < head size
TestBadMessage(
{ 0x24, 0x40, 0xff, 0xd1, 0xa1, 0x0f, 0x1f, 0x00, 0xc0, 0xf8, 0xa7, 0x0d, 0x58, 0x09, 0x29, 0x00, 0x49, 0x00,
0x22, 0x00, 0x26, 0x00, 0x3e, 0x00, 0xbf, 0xfa, 0xbc, 0x40, 0x1b, 0x6d, 0x22, 0x41 }); // length % 4 != 0
}

// ---------------------------------------------------------------------------------------------------------------------

TEST_F(ParserTest, FP_A)
{
Parser parser;
Expand Down
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