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AC_Avoidance: do fence pointer check before using it

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This commit is contained in:
Pierre Kancir 2021-08-11 00:40:30 +02:00 committed by Peter Barker
parent 600df16604
commit 4bccdada16
1 changed files with 10 additions and 9 deletions
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19
libraries/AC_Avoidance/AP_OADijkstra.cpp
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@ -251,6 +251,11 @@ bool AP_OADijkstra::create_inclusion_polygon_with_margin(float margin_cm, AP_OAD
{ {
const AC_Fence *fence = AC_Fence::get_singleton(); const AC_Fence *fence = AC_Fence::get_singleton();
if (fence == nullptr) {
err_id = AP_OADijkstra_Error::DIJKSTRA_ERROR_FENCE_DISABLED;
return false;
}
// skip unnecessary retry to build inclusion polygon if previous fence points have not changed // skip unnecessary retry to build inclusion polygon if previous fence points have not changed
if (_inclusion_polygon_update_ms == fence->polyfence().get_inclusion_polygon_update_ms()) { if (_inclusion_polygon_update_ms == fence->polyfence().get_inclusion_polygon_update_ms()) {
return false; return false;
@ -258,11 +263,6 @@ bool AP_OADijkstra::create_inclusion_polygon_with_margin(float margin_cm, AP_OAD
_inclusion_polygon_update_ms = fence->polyfence().get_inclusion_polygon_update_ms(); _inclusion_polygon_update_ms = fence->polyfence().get_inclusion_polygon_update_ms();
if (fence == nullptr) {
err_id = AP_OADijkstra_Error::DIJKSTRA_ERROR_FENCE_DISABLED;
return false;
}
// clear all points // clear all points
_inclusion_polygon_numpoints = 0; _inclusion_polygon_numpoints = 0;
@ -342,6 +342,11 @@ bool AP_OADijkstra::create_exclusion_polygon_with_margin(float margin_cm, AP_OAD
{ {
const AC_Fence *fence = AC_Fence::get_singleton(); const AC_Fence *fence = AC_Fence::get_singleton();
if (fence == nullptr) {
err_id = AP_OADijkstra_Error::DIJKSTRA_ERROR_FENCE_DISABLED;
return false;
}
// skip unnecessary retry to build exclusion polygon if previous fence points have not changed // skip unnecessary retry to build exclusion polygon if previous fence points have not changed
if (_exclusion_polygon_update_ms == fence->polyfence().get_exclusion_polygon_update_ms()) { if (_exclusion_polygon_update_ms == fence->polyfence().get_exclusion_polygon_update_ms()) {
return false; return false;
@ -349,10 +354,6 @@ bool AP_OADijkstra::create_exclusion_polygon_with_margin(float margin_cm, AP_OAD
_exclusion_polygon_update_ms = fence->polyfence().get_exclusion_polygon_update_ms(); _exclusion_polygon_update_ms = fence->polyfence().get_exclusion_polygon_update_ms();
if (fence == nullptr) {
err_id = AP_OADijkstra_Error::DIJKSTRA_ERROR_FENCE_DISABLED;
return false;
}
// clear all points // clear all points
_exclusion_polygon_numpoints = 0; _exclusion_polygon_numpoints = 0;