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https://github.com/ArduPilot/ardupilot
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4108f22304
The check for UART port pointer is not sufficient to know if the update() was possible or not. When MarvelmindHedge construction failed, the hedge pointer might be a nullptr and there are no checks to avoid nullptr dereference. The MarvelmindHedge structure had complex initialization but was done in a C style, with intermixed initialization functions. malloc() was changed to cleaner new operator. Given that the file already contained new operator calls it didn't make sense to have a mix. The files are cpp so C++ operators are used.
119 lines
3.6 KiB
C++
119 lines
3.6 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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Original C Code by Marvelmind (https://bitbucket.org/marvelmind_robotics/)
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Adapted into Ardupilot by Karthik Desai, Amilcar Lucas
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April 2017
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*/
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#ifndef AP_BEACON_MARVELMIND_H_
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#define AP_BEACON_MARVELMIND_H_
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#pragma once
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#define AP_BEACON_MARVELMIND_BUF_SIZE 255
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#include "AP_Beacon_Backend.h"
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class AP_Beacon_Marvelmind : public AP_Beacon_Backend
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{
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public:
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// constructor
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AP_Beacon_Marvelmind(AP_Beacon &frontend, AP_SerialManager &serial_manager);
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// return true if sensor is basically healthy (we are receiving data)
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bool healthy();
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// update
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void update();
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private:
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// Variables for Marvelmind
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struct PositionValue
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{
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uint8_t address;
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uint32_t timestamp;
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int32_t x, y, z; // coordinates in millimeters
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bool high_resolution;
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bool ready;
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bool processed;
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};
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struct StationaryBeaconPosition
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{
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uint8_t address;
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int32_t x, y, z;// coordinates in millimeters
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bool high_resolution;
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};
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struct StationaryBeaconsPositions
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{
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uint8_t num_beacons;
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StationaryBeaconPosition beacons[AP_BEACON_MAX_BEACONS];
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bool updated;
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};
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struct MarvelmindHedge
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{
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MarvelmindHedge();
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~MarvelmindHedge();
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uint8_t max_buffered_positions; // maximum count of measurements of coordinates stored in buffer, default: 3
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PositionValue * position_buffer; // buffer of measurements
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StationaryBeaconsPositions positions_beacons;
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bool pause; // pause flag. If True, class would not read serial data
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void (*receive_data_callback)(PositionValue position); // receive_data_callback is callback function to receive data
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uint8_t _last_values_count;
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uint8_t _last_values_next;
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bool _have_new_values;
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};
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enum {
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RECV_HDR,
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RECV_DGRAM
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} parse_state; // current state of receive data
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MarvelmindHedge *hedge;
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PositionValue cur_position;
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uint8_t input_buffer[AP_BEACON_MARVELMIND_BUF_SIZE];
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uint16_t num_bytes_in_block_received;
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uint16_t data_id;
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uint16_t calc_crc_modbus(uint8_t *buf, uint16_t len);
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StationaryBeaconPosition* get_or_alloc_beacon(uint8_t address);
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uint8_t mark_position_ready();
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void process_beacons_positions_datagram();
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void process_beacons_positions_highres_datagram();
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void process_position_highres_datagram(PositionValue &p);
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void process_position_datagram(PositionValue &p);
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void set_stationary_beacons_positions_and_distances();
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void order_stationary_beacons();
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// Variables for Ardupilot
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AP_HAL::UARTDriver *uart;
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uint32_t last_update_ms;
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// cache the vehicle position in NED coordinates [m]
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Vector3f vehicle_position_NED__m;
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bool vehicle_position_initialized;
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// cache the beacon positions in NED coordinates [m]
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Vector3f beacon_position_NED__m[AP_BEACON_MAX_BEACONS];
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bool beacon_position_initialized;
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};
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#endif /* AP_BEACON_MARVELMIND_H_ */
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