From a65049b6f24bf60b983b009f76a7afdf62d85d08 Mon Sep 17 00:00:00 2001
From: Bianka Forkel <noreply@fortiss.org>
Date: Sat, 15 Jul 2017 17:07:50 +0000
Subject: [PATCH] Wrong pointer in LaserRangeFinder refs 7956
---
.../trunk/lib/src/LaserRangeFinder.c | 27 +++++++++++--------
1 file changed, 16 insertions(+), 11 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 ec34b3b0..1a5fbf36 100644
--- a/org.fortiss.af3.platform.raspberry/trunk/lib/src/LaserRangeFinder.c
+++ b/org.fortiss.af3.platform.raspberry/trunk/lib/src/LaserRangeFinder.c
@@ -32,32 +32,37 @@ GEN_TYPE_int lrf_read() {
if (uart_filestream == -1)
return -1;
- // free buffer
+ //empty buffer
uart_flush();
+ //initialize arrays
+ int i;
char bytes[6];
+ for (i = 0; i < 6; i++) {
+ bytes[i] = 0;
+ }
int n_read = 0;
- char value[3];
- int n = 0;
-
- int i;
+ char value[4];
+ for (i = 0; i < 4; i++) {
+ value[i] = 0;
+ }
+ int n = 0;
int d;
- // looks like a blocking call and actually is but is always very fast
- // since it only has to read the queue
+ //receive values
while (1) {
- n_read = uart_receive(&bytes, 6, 0);
+ n_read = uart_receive(bytes, 6, 0);
+
+ if(n_read <= 0)
+ return -1;
for (i = 0; i < n_read; i++) {
if (bytes[i] != 0xd && bytes[i] != 0xa) {
value[n++] = bytes[i];
} else if (atoi(value) != 0) {
d = atoi(value);
- for (i = n; i < 3; i++) {
- value[i] = 0;
- }
return d;
}
}
--
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