From 8c72304ab912b42d38bd3301fd964aaec7149e77 Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Tue, 23 Jan 2024 00:47:48 +0000
Subject: [PATCH] AC_Avoidance: AP_OADijkstra: correct use of uninitialised
 value when retrying fence

---
 libraries/AC_Avoidance/AP_OADijkstra.cpp | 31 ++++++++++++------------
 libraries/AC_Avoidance/AP_OADijkstra.h   |  2 +-
 2 files changed, 16 insertions(+), 17 deletions(-)

diff --git a/libraries/AC_Avoidance/AP_OADijkstra.cpp b/libraries/AC_Avoidance/AP_OADijkstra.cpp
index f5150cd6ea..d40b7a182f 100644
--- a/libraries/AC_Avoidance/AP_OADijkstra.cpp
+++ b/libraries/AC_Avoidance/AP_OADijkstra.cpp
@@ -90,47 +90,46 @@ AP_OADijkstra::AP_OADijkstra_State AP_OADijkstra::update(const Location &current
     }
 
     // create inner polygon fence
-    AP_OADijkstra_Error error_id;
     if (!_inclusion_polygon_with_margin_ok) {
-        _inclusion_polygon_with_margin_ok = create_inclusion_polygon_with_margin(_polyfence_margin * 100.0f, error_id);
+        _inclusion_polygon_with_margin_ok = create_inclusion_polygon_with_margin(_polyfence_margin * 100.0f, _error_id);
         if (!_inclusion_polygon_with_margin_ok) {
             dest_to_next_dest_clear = _dest_to_next_dest_clear = false;
-            report_error(error_id);
-            Write_OADijkstra(DIJKSTRA_STATE_ERROR, (uint8_t)error_id, 0, 0, destination, destination);
+            report_error(_error_id);
+            Write_OADijkstra(DIJKSTRA_STATE_ERROR, (uint8_t)_error_id, 0, 0, destination, destination);
             return DIJKSTRA_STATE_ERROR;
         }
     }
 
     // create exclusion polygon outer fence
     if (!_exclusion_polygon_with_margin_ok) {
-        _exclusion_polygon_with_margin_ok = create_exclusion_polygon_with_margin(_polyfence_margin * 100.0f, error_id);
+        _exclusion_polygon_with_margin_ok = create_exclusion_polygon_with_margin(_polyfence_margin * 100.0f, _error_id);
         if (!_exclusion_polygon_with_margin_ok) {
             dest_to_next_dest_clear = _dest_to_next_dest_clear = false;
-            report_error(error_id);
-            Write_OADijkstra(DIJKSTRA_STATE_ERROR, (uint8_t)error_id, 0, 0, destination, destination);
+            report_error(_error_id);
+            Write_OADijkstra(DIJKSTRA_STATE_ERROR, (uint8_t)_error_id, 0, 0, destination, destination);
             return DIJKSTRA_STATE_ERROR;
         }
     }
 
     // create exclusion circle points
     if (!_exclusion_circle_with_margin_ok) {
-        _exclusion_circle_with_margin_ok = create_exclusion_circle_with_margin(_polyfence_margin * 100.0f, error_id);
+        _exclusion_circle_with_margin_ok = create_exclusion_circle_with_margin(_polyfence_margin * 100.0f, _error_id);
         if (!_exclusion_circle_with_margin_ok) {
             dest_to_next_dest_clear = _dest_to_next_dest_clear = false;
-            report_error(error_id);
-            Write_OADijkstra(DIJKSTRA_STATE_ERROR, (uint8_t)error_id, 0, 0, destination, destination);
+            report_error(_error_id);
+            Write_OADijkstra(DIJKSTRA_STATE_ERROR, (uint8_t)_error_id, 0, 0, destination, destination);
             return DIJKSTRA_STATE_ERROR;
         }
     }
 
     // create visgraph for all fence (with margin) points
     if (!_polyfence_visgraph_ok) {
-        _polyfence_visgraph_ok = create_fence_visgraph(error_id);
+        _polyfence_visgraph_ok = create_fence_visgraph(_error_id);
         if (!_polyfence_visgraph_ok) {
             _shortest_path_ok = false;
             dest_to_next_dest_clear = _dest_to_next_dest_clear = false;
-            report_error(error_id);
-            Write_OADijkstra(DIJKSTRA_STATE_ERROR, (uint8_t)error_id, 0, 0, destination, destination);
+            report_error(_error_id);
+            Write_OADijkstra(DIJKSTRA_STATE_ERROR, (uint8_t)_error_id, 0, 0, destination, destination);
             return DIJKSTRA_STATE_ERROR;
         }
         // reset logging count to restart logging updated graph
@@ -157,11 +156,11 @@ AP_OADijkstra::AP_OADijkstra_State AP_OADijkstra::update(const Location &current
 
     // calculate shortest path from current_loc to destination
     if (!_shortest_path_ok) {
-        _shortest_path_ok = calc_shortest_path(current_loc, destination, error_id);
+        _shortest_path_ok = calc_shortest_path(current_loc, destination, _error_id);
         if (!_shortest_path_ok) {
             dest_to_next_dest_clear = _dest_to_next_dest_clear = false;
-            report_error(error_id);
-            Write_OADijkstra(DIJKSTRA_STATE_ERROR, (uint8_t)error_id, 0, 0, destination, destination);
+            report_error(_error_id);
+            Write_OADijkstra(DIJKSTRA_STATE_ERROR, (uint8_t)_error_id, 0, 0, destination, destination);
             return DIJKSTRA_STATE_ERROR;
         }
         // start from 2nd point on path (first is the original origin)
diff --git a/libraries/AC_Avoidance/AP_OADijkstra.h b/libraries/AC_Avoidance/AP_OADijkstra.h
index b0beeea211..f56e940e30 100644
--- a/libraries/AC_Avoidance/AP_OADijkstra.h
+++ b/libraries/AC_Avoidance/AP_OADijkstra.h
@@ -57,7 +57,7 @@ private:
         DIJKSTRA_ERROR_TOO_MANY_FENCE_POINTS,
         DIJKSTRA_ERROR_NO_POSITION_ESTIMATE,
         DIJKSTRA_ERROR_COULD_NOT_FIND_PATH
-    };
+    } _error_id;
 
     // return error message for a given error id
     const char* get_error_msg(AP_OADijkstra_Error error_id) const;