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Phase 1: Critical fixes - exception handling and input validation

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Co-authored-by: Genaker <9213670+Genaker@users.noreply.github.com>
This commit is contained in:
copilot-swe-agent[bot]
2026-02-10 08:46:51 +00:00
parent a1097d9e1e
commit 45ded9f8a6
4 changed files with 314 additions and 83 deletions
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82
scripts/rpi-proxy-fc.py
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@@ -7,6 +7,42 @@ import json
from yamspy import MSPy
# Import shared utilities
try:
sys.path.insert(0, os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
from serial_utils import crc16, parse_scan_result as parse_line, DEFAULT_BAUDRATE
except ImportError:
print("Warning: serial_utils module not found, using local definitions", file=sys.stderr)
DEFAULT_BAUDRATE = 115200
# Local fallback definitions
POLY = 0x1021
def crc16(s, c):
"""Calculate CRC16 CCITT-FALSE checksum."""
c = c ^ 0xffff
for ch in s:
c = c ^ (ord(ch) << 8)
for i in range(8):
if c & 0x8000:
c = ((c << 1) ^ POLY) & 0xffff
else:
c = (c << 1) & 0xffff
return c ^ 0xffff
def parse_line(line):
"""Parse a JSON line from the serial input."""
if 'SCAN_RESULT ' not in line:
raise ValueError("Line does not contain SCAN_RESULT")
line = line[line.index('SCAN_RESULT '):]
parts = line.split(' ', 2)
if len(parts) < 3:
raise ValueError(f"Invalid SCAN_RESULT format")
_, count_str, rest = parts
count = int(count_str)
data = json.loads(rest.replace('(', '[').replace(')', ']'))
return count, data
## Constants
# INAV Konrad custom FW
@@ -15,35 +51,17 @@ INAV_KONRAD_MAX_NAME_LENGTH = 16
INAV_KONRAD_SET_PILOT_NAME = 0x5000
LORA_SA_PORT = "/dev/ttyS0"
DRONE_PORT = "/dev/ttyACM0"
# Configuration - can be overridden via environment variables
LORA_SA_PORT = os.getenv("LORA_SA_PORT", "/dev/ttyS0")
DRONE_PORT = os.getenv("DRONE_PORT", "/dev/ttyACM0")
SERIAL_BAUDRATE = int(os.getenv("SERIAL_BAUDRATE", DEFAULT_BAUDRATE))
SERIAL_TIMEOUT = int(os.getenv("SERIAL_TIMEOUT", "5"))
# For testing on Windows:
# LORA_SA_PORT = "COM6"
# DRONE_PORT = "COM4"
# lifted from SpectrumScan.py
def parse_line(line):
"""Parse a JSON line from the serial input."""
line = line[line.index('SCAN_RESULT '):] # support garbage interleaving with the string
_, count, rest = line.split(' ', 2)
return int(count), json.loads(rest.replace('(', '[').replace(')', ']'))
POLY = 0x1021
def crc16(s, c):
c = c ^ 0xffff
for ch in s:
c = c ^ (ord(ch) << 8)
for i in range(8):
if c & 0x8000:
c = ((c << 1) ^ POLY) & 0xffff
else:
c = (c << 1) & 0xffff
return c ^ 0xffff
# use MSP to get the heading
def get_heading(board: MSPy) -> float:
board.fast_read_analog()
@@ -76,10 +94,11 @@ with MSPy(device=DRONE_PORT, loglevel="WARNING", baudrate=115200) as board:
sys.exit(1)
else:
try:
# Attempt to connect to the Lora ESP SA over serial, use 115200 baudrate
lora = serial.Serial(LORA_SA_PORT, 115200, timeout=5)
except:
# just some basic error display with the FC OSD
# Attempt to connect to the Lora ESP SA over serial
lora = serial.Serial(LORA_SA_PORT, SERIAL_BAUDRATE, timeout=SERIAL_TIMEOUT)
except (serial.SerialException, OSError) as e:
# Display error on FC OSD
print(f"Error connecting to LoRa board: {e}")
for _ in range(10):
board.send_RAW_msg(
INAV_KONRAD_SET_PILOT_NAME, str2osd("err: lora board")
@@ -131,12 +150,15 @@ with MSPy(device=DRONE_PORT, loglevel="WARNING", baudrate=115200) as board:
continue
try:
count, data = parse_line(line)
except json.JSONDecodeError:
continue
finally:
data.sort()
candidate = get_candidates(data)
osd_text = str2osd(f"{candidate[0]}: {candidate[1]}")
board.send_RAW_msg(INAV_KONRAD_SET_PILOT_NAME, osd_text)
heading = get_heading(board)
lora.write(f"HEADING {heading}\n".encode("utf-8"))
except json.JSONDecodeError as e:
print(f"Error parsing JSON: {e}")
continue
except Exception as e:
print(f"Error processing scan result: {e}")
continue