fix: size the SIOCGIFMTU buffer for a whole struct ifreq

.github/workflows/ci.yml

@@ -9,6 +9,15 @@
 # dependency is needed. It imports the SDK straight from src/ (see
 # tests/_sdkpath.py), so both src/ and tests/ must be tracked.
 #
+# The suite runs twice, on the runner's own python3 (3.10) and on 3.14. One
+# interpreter is one set of blind spots: 3.14 tightened fcntl.ioctl() and broke
+# connect() against every real gripper (#63) while this suite stayed green.
+#
+# The second interpreter is a step in the same job, not a matrix. `main` requires
+# a status check named exactly `test`, and a matrix names its checks
+# `test (3.10)` / `test (3.14)`, which would leave that requirement waiting for a
+# check that never reports, blocking every merge.
+#
 # AGENTS.md is deliberately not linted: it is canonical content synced from
 # repo-template and must not be edited here.
 name: CI
@@ -54,3 +63,13 @@ jobs:
 
       - name: Run unit tests
         run: python3 -m unittest discover -s tests -t tests -v
+
+      - name: Setup Python 3.14
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.14"
+
+      - name: Run unit tests on 3.14
+        run: |
+          python3 -VV
+          python3 -m unittest discover -s tests -t tests -v

src/litegrip/can/transport.py

@@ -41,13 +41,22 @@
 
 _SIOCGIFMTU = 0x8921
 
+# sizeof(struct ifreq) — 40 bytes on 64-bit Linux, 32 on 32-bit.  SIOCGIFMTU
+# writes back the whole struct, not just ifr_name plus ifr_mtu.
+_IFREQ_SIZE = 40
+
 
 def _iface_mtu(sock: socket.socket, iface: str) -> Optional[int]:
     """Read interface MTU (16=classic CAN, 72=CAN FD). Returns None on failure."""
     try:
         ifr = struct.pack("16sH", iface.encode("utf-8")[:15], 0)
+        # Hand over a whole struct ifreq: the kernel writes all of it back, and
+        # since 3.14 fcntl.ioctl() raises SystemError (not OSError) when
+        # anything lands past the end of the argument.  The reply is exactly as
+        # long as the argument, so slice the mtu back out of the front.
+        ifr = ifr.ljust(_IFREQ_SIZE, b"\x00")
         res = fcntl.ioctl(sock.fileno(), _SIOCGIFMTU, ifr)
-        return struct.unpack("16sH", res)[1]
+        return struct.unpack("16sH", res[:18])[1]
     except OSError:
         return None
 

tests/test_iface_mtu.py

@@ -0,0 +1,98 @@
+"""``_iface_mtu()`` 交给内核的缓冲区必须装得下整个 ``struct ifreq``。
+
+``SIOCGIFMTU`` 回写的是一整个 ``struct ifreq``（16 字节名字 + 一个必须装得下
+所有成员的联合体，64 位 Linux 上 40 字节），不是「名字 + mtu」那 18 字节。
+多写出去的部分在 Python 3.14 之前没人看 —— 3.14 起 ``fcntl.ioctl()`` 会在参数
+末尾压一枚哨兵字节，内核写过去就抛 ``SystemError: buffer overflow``
+（cpython c2eaeee3）。于是 18 字节的缓冲区在 3.14 上直接让
+``CanTransport.open()`` 炸掉：真机连不上，而模拟路径根本不走 ``_iface_mtu()``，
+所以自检全绿、夹爪失联，报出来的还只是上层那句笼统的「连接失败」。
+
+所以这里钉两条：交给 ioctl 的缓冲区够大，以及真 ioctl 仍然读得出网卡的 MTU。
+第一条用假 ioctl 量缓冲区长度，任何解释器上都测得出这个回归；第二条要真内核，
+而 3.14 上它抛的是 ``SystemError``（不是 ``OSError``），一路冒到 ``connect()``。
+"""
+
+from __future__ import annotations
+
+import errno
+import socket
+import struct
+import sys
+import unittest
+import unittest.mock
+
+import _sdkpath  # noqa: F401
+from litegrip.can import transport
+
+_SIOCGIFMTU = 0x8921
+
+
+class TestIfreqBufferSize(unittest.TestCase):
+    """交给内核的缓冲区按整个 ifreq 给。"""
+
+    def _sock(self) -> socket.socket:
+        sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+        self.addCleanup(sock.close)
+        return sock
+
+    def test_buffer_holds_a_whole_ifreq(self):
+        """内核照原样回写整个 ifreq，所以缓冲区得有那么长。"""
+        seen = {}
+
+        def fake_ioctl(fd, request, arg):
+            seen["request"] = request
+            seen["len"] = len(arg)
+            seen["iface"] = struct.unpack("16s", arg[:16])[0].rstrip(b"\x00")
+            # 内核把整结构回写：ifr_mtu 是 ifr_ifru 顶上的那个 int。
+            return arg[:16] + struct.pack("=i", 72).ljust(len(arg) - 16, b"\x00")
+
+        with unittest.mock.patch.object(transport.fcntl, "ioctl", fake_ioctl):
+            mtu = transport._iface_mtu(self._sock(), "can0")
+
+        self.assertEqual(seen["request"], _SIOCGIFMTU)
+        self.assertEqual(seen["iface"], b"can0")
+        self.assertGreaterEqual(
+            seen["len"], 40,
+            "SIOCGIFMTU 回写整个 struct ifreq（64 位 40 字节，32 位 32 字节）；"
+            "缓冲区短了内核就写到尾巴外面去，3.14 上判 buffer overflow")
+        # 回写比传进去的长不出来，但传进去的长了就得切回前面 18 字节。
+        self.assertEqual(mtu, 72)
+
+    def test_returns_none_when_the_ioctl_fails(self):
+        """读不出来只是没有提示，不该把 connect() 带下去。"""
+
+        def failing_ioctl(fd, request, arg):
+            raise OSError(errno.ENODEV, "no such device")
+
+        with unittest.mock.patch.object(transport.fcntl, "ioctl", failing_ioctl):
+            self.assertIsNone(transport._iface_mtu(self._sock(), "can0"))
+
+
+@unittest.skipUnless(sys.platform.startswith("linux"), "SIOCGIFMTU 是 Linux 的东西")
+class TestAgainstTheRealKernel(unittest.TestCase):
+    """真 ioctl 这一条。"""
+
+    def _sysfs_mtu(self, iface: str) -> int:
+        with open("/sys/class/net/%s/mtu" % iface, "r") as fh:
+            return int(fh.read())
+
+    def test_every_interface_reads_back_its_mtu(self):
+        """网卡挨个读一遍：3.14 上旧写法在这里就炸，而 3.10 看不出来。"""
+        sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+        self.addCleanup(sock.close)
+
+        checked = 0
+        for _, iface in socket.if_nameindex():
+            expected = self._sysfs_mtu(iface)
+            mtu = transport._iface_mtu(sock, iface)
+            self.assertIsNotNone(mtu, "%s: ioctl 没读出来" % iface)
+            # ifr_mtu 是 int，而这里只取低 16 位：环回的 65536 读成 0。
+            if expected <= 0xFFFF:
+                self.assertEqual(mtu, expected, iface)
+            checked += 1
+        self.assertGreater(checked, 0, "if_nameindex() 一个网卡都没报出来")
+
+
+if __name__ == "__main__":
+    unittest.main()