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AC_Fence: correct handling of more than 256 fence items

This commit is contained in:
Peter Barker 2024-11-20 12:21:00 +11:00 committed by Peter Barker
parent ef18e9bc84
commit 8b8bc026db
1 changed files with 6 additions and 6 deletions
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12
libraries/AC_Fence/AC_PolyFence_loader.cpp
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@ -306,7 +306,7 @@ bool AC_PolyFence_loader::formatted() const
uint16_t AC_PolyFence_loader::max_items() const uint16_t AC_PolyFence_loader::max_items() const
{ {
// this is 84 items on PixHawk // this is 84 items on PixHawk
return MIN(255U, fence_storage.size() / sizeof(Vector2l)); return fence_storage.size() / sizeof(Vector2l);
} }
bool AC_PolyFence_loader::format() bool AC_PolyFence_loader::format()
@ -650,7 +650,7 @@ bool AC_PolyFence_loader::load_from_eeprom()
// FIXME: find some way of factoring out all of these allocation routines. // FIXME: find some way of factoring out all of these allocation routines.
{ // allocate storage for inclusion polyfences: { // allocate storage for inclusion polyfences:
const uint8_t count = index_fence_count(AC_PolyFenceType::POLYGON_INCLUSION); const auto count = index_fence_count(AC_PolyFenceType::POLYGON_INCLUSION);
Debug("Fence: Allocating %u bytes for inc. fences", Debug("Fence: Allocating %u bytes for inc. fences",
(unsigned)(count * sizeof(InclusionBoundary))); (unsigned)(count * sizeof(InclusionBoundary)));
_loaded_inclusion_boundary = NEW_NOTHROW InclusionBoundary[count]; _loaded_inclusion_boundary = NEW_NOTHROW InclusionBoundary[count];
@ -662,7 +662,7 @@ bool AC_PolyFence_loader::load_from_eeprom()
} }
{ // allocate storage for exclusion polyfences: { // allocate storage for exclusion polyfences:
const uint8_t count = index_fence_count(AC_PolyFenceType::POLYGON_EXCLUSION); const auto count = index_fence_count(AC_PolyFenceType::POLYGON_EXCLUSION);
Debug("Fence: Allocating %u bytes for exc. fences", Debug("Fence: Allocating %u bytes for exc. fences",
(unsigned)(count * sizeof(ExclusionBoundary))); (unsigned)(count * sizeof(ExclusionBoundary)));
_loaded_exclusion_boundary = NEW_NOTHROW ExclusionBoundary[count]; _loaded_exclusion_boundary = NEW_NOTHROW ExclusionBoundary[count];
@ -674,7 +674,7 @@ bool AC_PolyFence_loader::load_from_eeprom()
} }
{ // allocate storage for circular inclusion fences: { // allocate storage for circular inclusion fences:
uint8_t count = index_fence_count(AC_PolyFenceType::CIRCLE_INCLUSION); uint32_t count = index_fence_count(AC_PolyFenceType::CIRCLE_INCLUSION);
count += index_fence_count(AC_PolyFenceType::CIRCLE_INCLUSION_INT) count += index_fence_count(AC_PolyFenceType::CIRCLE_INCLUSION_INT)
Debug("Fence: Allocating %u bytes for circ. inc. fences", Debug("Fence: Allocating %u bytes for circ. inc. fences",
(unsigned)(count * sizeof(InclusionCircle))); (unsigned)(count * sizeof(InclusionCircle)));
@ -687,7 +687,7 @@ bool AC_PolyFence_loader::load_from_eeprom()
} }
{ // allocate storage for circular exclusion fences: { // allocate storage for circular exclusion fences:
uint8_t count = index_fence_count(AC_PolyFenceType::CIRCLE_EXCLUSION); uint32_t count = index_fence_count(AC_PolyFenceType::CIRCLE_EXCLUSION);
count += index_fence_count(AC_PolyFenceType::CIRCLE_EXCLUSION_INT) count += index_fence_count(AC_PolyFenceType::CIRCLE_EXCLUSION_INT)
Debug("Fence: Allocating %u bytes for circ. exc. fences", Debug("Fence: Allocating %u bytes for circ. exc. fences",
(unsigned)(count * sizeof(ExclusionCircle))); (unsigned)(count * sizeof(ExclusionCircle)));
@ -1060,7 +1060,7 @@ bool AC_PolyFence_loader::write_fence(const AC_PolyFenceItem *new_items, uint16_
return false; return false;
} }
uint8_t total_vertex_count = 0; uint16_t total_vertex_count = 0;
uint16_t offset = 4; // skipping magic uint16_t offset = 4; // skipping magic
uint8_t vertex_count = 0; uint8_t vertex_count = 0;
for (uint16_t i=0; i<count; i++) { for (uint16_t i=0; i<count; i++) {