From c2c3780918a537ff59633ad0ed0c086bd83939d7 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Mon, 4 Jun 2018 14:30:21 +0200
Subject: [PATCH] mpu6000: add argc check and use px4_getopt

---
 src/drivers/imu/mpu6000/mpu6000.cpp | 28 +++++++++++++++++-----------
 1 file changed, 17 insertions(+), 11 deletions(-)

diff --git a/src/drivers/imu/mpu6000/mpu6000.cpp b/src/drivers/imu/mpu6000/mpu6000.cpp
index e408c6a037..a655de13f7 100644
--- a/src/drivers/imu/mpu6000/mpu6000.cpp
+++ b/src/drivers/imu/mpu6000/mpu6000.cpp
@@ -71,7 +71,7 @@
 #include <stdio.h>
 #include <math.h>
 #include <unistd.h>
-#include <getopt.h>
+#include <px4_getopt.h>
 
 #include <perf/perf_counter.h>
 #include <systemlib/err.h>
@@ -2590,14 +2590,16 @@ usage()
 int
 mpu6000_main(int argc, char *argv[])
 {
+	int myoptind = 1;
+	int ch;
+	const char *myoptarg = nullptr;
+
 	enum MPU6000_BUS busid = MPU6000_BUS_ALL;
 	int device_type = MPU_DEVICE_TYPE_MPU6000;
-	int ch;
 	enum Rotation rotation = ROTATION_NONE;
 	int accel_range = MPU6000_ACCEL_DEFAULT_RANGE_G;
 
-	/* jump over start/off/etc and look at options first */
-	while ((ch = getopt(argc, argv, "T:XISsZzR:a:")) != EOF) {
+	while ((ch = px4_getopt(argc, argv, "T:XISsZzR:a:", &myoptind, &myoptarg)) != EOF) {
 		switch (ch) {
 		case 'X':
 			busid = MPU6000_BUS_I2C_EXTERNAL;
@@ -2624,28 +2626,32 @@ mpu6000_main(int argc, char *argv[])
 			break;
 
 		case 'T':
-			device_type = atoi(optarg);
+			device_type = atoi(myoptarg);
 			break;
 
 		case 'R':
-			rotation = (enum Rotation)atoi(optarg);
+			rotation = (enum Rotation)atoi(myoptarg);
 			break;
 
 		case 'a':
-			accel_range = atoi(optarg);
+			accel_range = atoi(myoptarg);
 			break;
 
 		default:
 			mpu6000::usage();
-			exit(0);
+			return 0;
 		}
 	}
 
-	const char *verb = argv[optind];
+	if (myoptind >= argc) {
+		mpu6000::usage();
+		return -1;
+	}
+
+	const char *verb = argv[myoptind];
 
 	/*
 	 * Start/load the driver.
-
 	 */
 	if (!strcmp(verb, "start")) {
 		mpu6000::start(busid, rotation, accel_range, device_type);
@@ -2692,5 +2698,5 @@ mpu6000_main(int argc, char *argv[])
 	}
 
 	mpu6000::usage();
-	exit(1);
+	return -1;
 }