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Multirotor mixer: Remove incorrect pre-parser and replace with fixed central implementation

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This commit is contained in:
Lorenz Meier
2017-01-03 20:32:33 -05:00
committed by Daniel Agar
parent ff18140cf4
commit dd05ff5156
1 changed files with 3 additions and 16 deletions
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src/modules/systemlib/mixer/mixer_multirotor.cpp
+3 -16
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@@ -116,22 +116,9 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl
int s[4];
int used;
/* enforce that the mixer ends with space or a new line */
for (int i = buflen - 1; i >= 0; i--) {
if (buf[i] == '\0') {
continue;
}
/* require a space or newline at the end of the buffer, fail on printable chars */
if (buf[i] == ' ' || buf[i] == '\n' || buf[i] == '\r') {
/* found a line ending or space, so no split symbols / numbers. good. */
break;
} else {
debug("simple parser rejected: No newline / space at end of buf. (#%d/%d: 0x%02x)", i, buflen - 1, buf[i]);
return nullptr;
}
/* enforce that the mixer ends with a new line */
if (!string_well_formed(buf, buflen)) {
return nullptr;
}
if (sscanf(buf, "R: %7s %d %d %d %d%n", geomname, &s[0], &s[1], &s[2], &s[3], &used) != 5) {