fix: recompute SoE payload pointer in ecx_SoEread - #985
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ecx_SoEread derived mp from MbxIn while it was still NULL, then memcpy'd from that stale pointer after ecx_mbxreceive updated MbxIn. A slave ReadRes therefore read address 0x0a and crashed the master. Recompute mp from the received mailbox on an accepted SoE ReadRes, and reject a negative framedatasize before memcpy. Fixes OpenEtherCATsociety#981
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Eksan0325
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Sep 8, 2026
Eksan0325
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SOEM has always been missing servo communication unit tests. have you set up any test conditions for changes in the SoE?
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At 5487d13, the local mailbox mock passes with Clang, -Wall -Wextra -Werror and AddressSanitizer:
The harness stubs mailbox calls and is not in this PR. Fragmentation, timing, servo and NIC behavior remain untested. Would an in-tree mock be useful, and which runner/location fits the project? |
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Fixes #981.
ecx_SoEreadused a NULL-derived payload pointer when reading a valid SoE response. Recomputempfrom the received mailbox before copying the payload.Validation used Clang with AddressSanitizer and a local mailbox mock. A valid one-byte response returned
0x41; a zero-length malformed response reported a packet error and left the destination unchanged. The mock is not included in this PR. The native macOS CMake build was blocked by the missingcmake/Darwin.cmake, so the source check used generated options and Linux OSAL/OSHW headers.Real servo/NIC behavior, fragmentation and mailbox timing remain untested.
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