From 2ce5f2769b655e49603f5650d6ca6846533149e4 Mon Sep 17 00:00:00 2001
From: Bianka Forkel <noreply@fortiss.org>
Date: Wed, 19 Jul 2017 08:55:32 +0000
Subject: [PATCH] LRF: additional range checks refs 7956
---
.../trunk/lib/src/LaserRangeFinder.c | 25 +++++++++++++------
1 file changed, 17 insertions(+), 8 deletions(-)
diff --git a/org.fortiss.af3.platform.raspberry/trunk/lib/src/LaserRangeFinder.c b/org.fortiss.af3.platform.raspberry/trunk/lib/src/LaserRangeFinder.c
index 5d26c526..93eb8c41 100644
--- a/org.fortiss.af3.platform.raspberry/trunk/lib/src/LaserRangeFinder.c
+++ b/org.fortiss.af3.platform.raspberry/trunk/lib/src/LaserRangeFinder.c
@@ -36,7 +36,7 @@ GEN_TYPE_boolean lrf_is_noval() {
/** Get one distance measurement from the laser range finder. */
GEN_TYPE_int lrf_read() {
- if(timeout>100)
+ if(timeout>1000)
lrf_init();
if (uart_filestream == -1) {
@@ -49,15 +49,18 @@ GEN_TYPE_int lrf_read() {
uart_flush();
//initialize arrays
+ int sizeB = 10;
+ int sizeV = 4;
+
int i;
- char bytes[10];
- for (i = 0; i < sizeof(bytes) / sizeof(bytes[0]); i++) {
+ char bytes[sizeB];
+ for (i = 0; i < sizeB; i++) {
bytes[i] = 0;
}
int n_read = 0;
- char value[10];
- for (i = 0; i < sizeof(value) / sizeof(value[0]); i++) {
+ char value[sizeV];
+ for (i = 0; i < sizeV; i++) {
value[i] = 0;
}
@@ -66,7 +69,7 @@ GEN_TYPE_int lrf_read() {
//receive values
while (1) {
- n_read = uart_receive(bytes, sizeof(bytes) / sizeof(bytes[0]), 0);
+ n_read = uart_receive(bytes, sizeB, 0);
if(n_read <= 0) {
timeout++;
@@ -76,8 +79,14 @@ GEN_TYPE_int lrf_read() {
for (i = 0; i < n_read; i++) {
if (bytes[i] != 0xd && bytes[i] != 0xa) {
- value[n++] = bytes[i];
- } else if (atoi(value) != 0) {
+ if(n < sizeV)
+ value[n++] = bytes[i];
+ else {
+ timeout++;
+ printf("-1: too many bytes\n");
+ return -1;
+ }
+ } else {
d = atoi(value);
printf("%d\n",d);
timeout = 0;
--
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