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AP_Filesystem: review fixes

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thanks Andy!
This commit is contained in:
Andrew Tridgell 2021-04-20 17:18:05 +10:00
parent b941b8c93a
commit 08cbfa032d
2 changed files with 7 additions and 5 deletions
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10
libraries/AP_Filesystem/AP_Filesystem_Mission.cpp
View File

@ -126,7 +126,7 @@ int32_t AP_Filesystem_Mission::read(int fd, void *buf, uint32_t count)
uint8_t *ubuf = (uint8_t *)buf; uint8_t *ubuf = (uint8_t *)buf;
if (r.file_ofs < sizeof(struct header)) { if (r.file_ofs < sizeof(struct header)) {
struct header hdr; struct header hdr {};
hdr.data_type = uint16_t(r.mtype); hdr.data_type = uint16_t(r.mtype);
hdr.num_items = r.num_items; hdr.num_items = r.num_items;
uint8_t n = MIN(sizeof(hdr) - r.file_ofs, count); uint8_t n = MIN(sizeof(hdr) - r.file_ofs, count);
@ -142,7 +142,7 @@ int32_t AP_Filesystem_Mission::read(int fd, void *buf, uint32_t count)
} }
uint32_t data_ofs = r.file_ofs - sizeof(struct header); uint32_t data_ofs = r.file_ofs - sizeof(struct header);
mavlink_mission_item_int_t item; mavlink_mission_item_int_t item {};
const uint8_t item_size = MAVLINK_MSG_ID_MISSION_ITEM_INT_LEN; const uint8_t item_size = MAVLINK_MSG_ID_MISSION_ITEM_INT_LEN;
uint32_t item_ofs = data_ofs % item_size; uint32_t item_ofs = data_ofs % item_size;
uint32_t total = 0; uint32_t total = 0;
@ -224,7 +224,7 @@ bool AP_Filesystem_Mission::check_file_name(const char *name, enum MAV_MISSION_T
/* /*
get one item get one item
*/ */
bool AP_Filesystem_Mission::get_item(uint32_t idx, enum MAV_MISSION_TYPE mtype, mavlink_mission_item_int_t &item) bool AP_Filesystem_Mission::get_item(uint32_t idx, enum MAV_MISSION_TYPE mtype, mavlink_mission_item_int_t &item) const
{ {
switch (mtype) { switch (mtype) {
case MAV_MISSION_TYPE_MISSION: { case MAV_MISSION_TYPE_MISSION: {
@ -304,6 +304,7 @@ int32_t AP_Filesystem_Mission::write(int fd, const void *buf, uint32_t count)
if (flen > r.writebuf->get_length()) { if (flen > r.writebuf->get_length()) {
if (!r.writebuf->append(nullptr, flen - r.writebuf->get_length())) { if (!r.writebuf->append(nullptr, flen - r.writebuf->get_length())) {
// not enough memory // not enough memory
errno = ENOSPC;
return -1; return -1;
} }
} }
@ -311,6 +312,7 @@ int32_t AP_Filesystem_Mission::write(int fd, const void *buf, uint32_t count)
} }
if (r.file_ofs + count > r.writebuf->get_length()) { if (r.file_ofs + count > r.writebuf->get_length()) {
if (!r.writebuf->append(nullptr, r.file_ofs + count - r.writebuf->get_length())) { if (!r.writebuf->append(nullptr, r.file_ofs + count - r.writebuf->get_length())) {
errno = ENOSPC;
return -1; return -1;
} }
} }
@ -371,7 +373,7 @@ bool AP_Filesystem_Mission::finish_upload(const rfile &r)
mission->clear(); mission->clear();
} }
for (uint32_t i=0; i<nitems; i++) { for (uint32_t i=0; i<nitems; i++) {
mavlink_mission_item_int_t m; mavlink_mission_item_int_t m {};
AP_Mission::Mission_Command cmd; AP_Mission::Mission_Command cmd;
memcpy(&m, &b[sizeof(hdr)+i*item_size], item_size); memcpy(&m, &b[sizeof(hdr)+i*item_size], item_size);
const MAV_MISSION_RESULT res = AP_Mission::mavlink_int_to_mission_cmd(m, cmd); const MAV_MISSION_RESULT res = AP_Mission::mavlink_int_to_mission_cmd(m, cmd);

2
libraries/AP_Filesystem/AP_Filesystem_Mission.h
View File

@ -61,7 +61,7 @@ private:
bool check_file_name(const char *fname, enum MAV_MISSION_TYPE &mtype); bool check_file_name(const char *fname, enum MAV_MISSION_TYPE &mtype);
// get one item // get one item
bool get_item(uint32_t idx, enum MAV_MISSION_TYPE mtype, mavlink_mission_item_int_t &item); bool get_item(uint32_t idx, enum MAV_MISSION_TYPE mtype, mavlink_mission_item_int_t &item) const;
// get number of items // get number of items
uint32_t get_num_items(enum MAV_MISSION_TYPE mtype) const; uint32_t get_num_items(enum MAV_MISSION_TYPE mtype) const;