From 799a5adf9d2651c3ace81c95f43d874278bed95b Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Mon, 10 Jun 2024 15:31:48 +0200
Subject: [PATCH] For version 2, check if the length is smaller than the RX
buffer.
---
dynamixel_base/src/dynamixel_slave.c | 1 +
1 file changed, 1 insertion(+)
diff --git a/dynamixel_base/src/dynamixel_slave.c b/dynamixel_base/src/dynamixel_slave.c
index c284434..3a79a05 100644
--- a/dynamixel_base/src/dynamixel_slave.c
+++ b/dynamixel_base/src/dynamixel_slave.c
@@ -95,6 +95,7 @@ unsigned char dyn_slave_check_new_packet(TDynamixelSlave *slave)
if(buffer[0]!=0xFF) return 0x00;
if(buffer[1]!=0xFF) return 0x00;
if(buffer[2]!=0xFD) return 0x00;
+ if(dyn2_get_length(buffer)>MAX_DYN_SLAVE_RX_BUFFER_LEN) return 0x00;
if(dyn2_check_checksum(buffer)!=0x01) return 0x00;
return 0x01;
}
--
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