[mojomex]

PR Type

• Bug Fix

Related Links

• GHSA-vfxx-jpg9-gqcp

Description

The common-format object list selector in ContinentalARS548Decoder::process_packet() accepted a packet when either the received payload size or the advertised PDU length matched. A packet with a matching PDU length but a short payload therefore reached parse_objects_list_packet(), which copies a fixed number of bytes and read out of bounds (CWE-125).

• Require both the payload size and the PDU length to match, as the FW40 branch already does.
• Reject packets shorter than header + max_objects * sizeof(ObjectPacket) in parse_objects_list_packet() as defense in depth.
• Add a ground-truth bag recorded from an ARS540DI corner radar (firmware 5.40.4, 200-object list format), so both object list formats are now covered by recorded packets.
• Add regression tests: header-only, truncated, oversized, mismatched-format and off-by-one PDU length packets of both object list formats are rejected, correctly sized packets of both formats are decoded, and truncated detection list and sensor status packets are rejected.

Stacked on #515.

Review Procedure

Review the diff and the new test cases in continental_ros_decoder_test_main_ars548.cpp.

Remarks

The test fixture gained a toggle to skip ground-truth comparison and a callback counter so that synthetic packets not present in the test bag can be asserted on.

Pre-Review Checklist for the PR Author

PR Author should check the checkboxes below when creating the PR.

• Assign PR to reviewer

Checklist for the PR Reviewer

Reviewers should check the checkboxes below before approval.

• Commits are properly organized and messages are according to the guideline
• (Optional) Unit tests have been written for new behavior
• PR title describes the changes

Post-Review Checklist for the PR Author

PR Author should check the checkboxes below before merging.

• All open points are addressed and tracked via issues or tickets

CI Checks

• Build and test for PR: Required to pass before the merge.

🤖 Generated with Claude Code

[codecov]

Codecov Report

❌ Patch coverage is 42.85714% with 4 lines in your changes missing coverage. Please review.
✅ Project coverage is 47.01%. Comparing base (40b7d2d) to head (75a4d76).

Additional details and impacted files

@@                        Coverage Diff                         @@
##           refactor/ars548-decoder-logger     #505      +/-   ##
==================================================================
+ Coverage                           45.72%   47.01%   +1.28%     
==================================================================
  Files                                 137      137              
  Lines                               10359    10365       +6     
  Branches                             1282     1284       +2     
==================================================================
+ Hits                                 4737     4873     +136     
+ Misses                               5620     5490     -130     
  Partials                                2        2              

Flag	Coverage Δ
nebula_continental	37.85% <42.85%> (+4.90%)	⬆️
nebula_continental_decoders	37.85% <42.85%> (+4.90%)	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

🚀 New features to boost your workflow:

• ❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.