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hostmot2: check hal_malloc results in sserial and abs_encoder setup #4633

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Merged
andypugh merged 1 commit into from
Oct 4, 2026
Merged

hostmot2: check hal_malloc results in sserial and abs_encoder setup #4633

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12 changes: 12 additions & 0 deletions src/hal/drivers/mesa-hostmot2/abs_encoder.c
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Original file line number Diff line number Diff line change
Expand Up @@ -139,6 +139,10 @@ int hm2_absenc_setup_ssi(hostmot2_t *hm2, hm2_sserial_remote_t *chan,
if ( hm2_sserial_create_pins(hm2, chan)) return -EINVAL;

chan->params = hal_malloc(sizeof(*chan->params));
if (chan->params == NULL) {
HM2_ERR("out of HAL memory allocating absenc params on %s\n", chan->name);
return -ENOMEM;
}
hm2->absenc.clock_frequency = md->clock_freq;
hm2->absenc.ssi_version = md->version;

Expand Down Expand Up @@ -170,6 +174,10 @@ int hm2_absenc_setup_biss(hostmot2_t *hm2, hm2_sserial_remote_t *chan,
if ( hm2_sserial_create_pins(hm2, chan)) return -EINVAL;

chan->params = hal_malloc(sizeof(*chan->params));
if (chan->params == NULL) {
HM2_ERR("out of HAL memory allocating absenc params on %s\n", chan->name);
return -ENOMEM;
}
hm2->absenc.clock_frequency = md->clock_freq;
hm2->absenc.biss_version = md->version;

Expand Down Expand Up @@ -201,6 +209,10 @@ int hm2_absenc_setup_fabs(hostmot2_t *hm2, hm2_sserial_remote_t *chan,
if ( hm2_sserial_create_pins(hm2, chan)) return -EINVAL;

chan->params = hal_malloc(sizeof(*chan->params));
if (chan->params == NULL) {
HM2_ERR("out of HAL memory allocating absenc params on %s\n", chan->name);
return -ENOMEM;
}
hm2->absenc.clock_frequency = md->clock_freq;
hm2->absenc.fanuc_version = md->version;

Expand Down
21 changes: 21 additions & 0 deletions src/hal/drivers/mesa-hostmot2/sserial.c
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Original file line number Diff line number Diff line change
Expand Up @@ -423,6 +423,11 @@ int hm2_sserial_create_params(hostmot2_t *hm2, hm2_sserial_remote_t *chan){
int hal_dir;

chan->params = hal_malloc(chan->num_globals * sizeof(*chan->params));
if (chan->params == NULL && chan->num_globals > 0) {
HM2_ERR("out of HAL memory allocating %i sserial params on %s\n",
chan->num_globals, chan->name);
return -ENOMEM;
}
for (i = 0 ; i < chan->num_globals ; i++){
global = chan->globals[i];

Expand Down Expand Up @@ -1099,6 +1104,11 @@ int hm2_sserial_create_pins(hostmot2_t *hm2, hm2_sserial_remote_t *chan){
int r = 0;
int data_dir;
chan->pins = hal_malloc(chan->num_confs * sizeof(*chan->pins));
if (chan->pins == NULL && chan->num_confs > 0) {
HM2_ERR("out of HAL memory allocating %i sserial pin sets on %s\n",
chan->num_confs, chan->name);
return -ENOMEM;
}

chan->num_read_bits = 0 ; chan->num_write_bits = 0;

Expand Down Expand Up @@ -1153,6 +1163,12 @@ int hm2_sserial_create_pins(hostmot2_t *hm2, hm2_sserial_remote_t *chan){
chan->pins[i].bit_pins = hal_malloc(chan->confs[i].DataLength * sizeof(*chan->pins[i].bit_pins));
chan->pins[i].bit_pins_not = hal_malloc(chan->confs[i].DataLength * sizeof(*chan->pins[i].bit_pins_not));
chan->pins[i].invert = hal_malloc(chan->confs[i].DataLength * sizeof(*chan->pins[i].invert));
if ((chan->pins[i].bit_pins == NULL || chan->pins[i].bit_pins_not == NULL
|| chan->pins[i].invert == NULL) && chan->confs[i].DataLength > 0) {
HM2_ERR("out of HAL memory allocating %i bit pins on %s.%s\n",
chan->confs[i].DataLength, chan->name, chan->confs[i].NameString);
return -ENOMEM;
}
for (j = 0; j < chan->confs[i].DataLength ; j++){

r = hal_pin_new_bool(hm2->llio->comp_id, data_dir, &(chan->pins[i].bit_pins[j]),
Expand Down Expand Up @@ -1238,6 +1254,11 @@ int hm2_sserial_create_pins(hostmot2_t *hm2, hm2_sserial_remote_t *chan){
}
if (data_dir == HAL_IN) {
chan->pins[i].invert = hal_malloc(sizeof(*chan->pins[i].invert));
if (chan->pins[i].invert == NULL) {
HM2_ERR("out of HAL memory allocating invert param on %s.%s\n",
chan->name, chan->confs[i].NameString);
return -ENOMEM;
}
r = hal_param_new_bool(hm2->llio->comp_id, HAL_RW, chan->pins[i].invert,
0, "%s.%s-invert", chan->name, chan->confs[i].NameString);
if (r < 0) {
Expand Down
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