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AP_NavEKF: add more protections on ring buffer code 

declare an internal error if we try to access an element when not
initialised
This commit is contained in:
Andrew Tridgell 2020-11-27 09:36:35 +11:00
parent 0c05e9a2e7
commit ab917ed92e
1 changed files with 9 additions and 2 deletions
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11
libraries/AP_NavEKF/EKF_Buffer.cpp
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@ -6,6 +6,7 @@
#include "EKF_Buffer.h"
#include <stdlib.h>
#include <string.h>
#include <AP_InternalError/AP_InternalError.h>
// constructor
ekf_ring_buffer::ekf_ring_buffer(uint8_t _elsize) :
@ -145,7 +146,7 @@ void *ekf_imu_buffer::get_offset(uint8_t idx) const
bool ekf_imu_buffer::init(uint32_t size)
{
if (buffer != nullptr) {
// allow for init twive
// allow for init twice
free(buffer);
}
buffer = calloc(size, elsize);
@ -165,6 +166,7 @@ bool ekf_imu_buffer::init(uint32_t size)
void ekf_imu_buffer::push_youngest_element(const void *element)
{
if (!buffer) {
INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
return;
}
// push youngest to the buffer
@ -180,7 +182,12 @@ void ekf_imu_buffer::push_youngest_element(const void *element)
// retrieve the oldest data from the ring buffer tail
void ekf_imu_buffer::get_oldest_element(void *element)
{
memcpy(element, get_offset(_oldest), elsize);
if (buffer == nullptr) {
INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
memset(element, 0, elsize);
} else {
memcpy(element, get_offset(_oldest), elsize);
}
}
// writes the same data to all elements in the ring buffer