From e6752e43b264a97bec830c442df518f7200fd854 Mon Sep 17 00:00:00 2001
From: Mohammed Kabir <mhkabir98@gmail.com>
Date: Fri, 5 Jun 2015 18:30:40 +0530
Subject: [PATCH] camera trigger : cleanup - still crashes

---
 src/modules/camera_trigger/camera_trigger.cpp | 55 +++++++++++--------
 1 file changed, 31 insertions(+), 24 deletions(-)

diff --git a/src/modules/camera_trigger/camera_trigger.cpp b/src/modules/camera_trigger/camera_trigger.cpp
index a694778014..7c7e5a14d1 100644
--- a/src/modules/camera_trigger/camera_trigger.cpp
+++ b/src/modules/camera_trigger/camera_trigger.cpp
@@ -142,6 +142,8 @@ CameraTrigger	*g_camera_trigger;
 
 CameraTrigger::CameraTrigger() :
 	pin(1),
+	_pollcall{},
+	_firecall{},
 	_gpio_fd(-1),
 	_polarity(0),
 	_activation_time(0.0f),
@@ -152,11 +154,13 @@ CameraTrigger::CameraTrigger() :
 	_sensor_sub(-1),
 	_vcommand_sub(-1),
 	_trigger_pub(nullptr),
-	_trigger{}
+	_trigger{},
+	_sensor{},
+	_command{}
 {
 	memset(&_trigger, 0, sizeof(_trigger));
-	memset(&_command, 0, sizeof(_command));
 	memset(&_sensor, 0, sizeof(_sensor));
+	memset(&_command, 0, sizeof(_command));
 	
 	memset(&_pollcall, 0, sizeof(_pollcall));
 	memset(&_firecall, 0, sizeof(_firecall));	
@@ -180,7 +184,6 @@ CameraTrigger::start()
 	_gpio_fd = open(PX4FMU_DEVICE_PATH, 0);
 
 	if (_gpio_fd < 0) {
-		
 		warnx("GPIO device open fail");
 		stop();
 	}
@@ -197,15 +200,15 @@ CameraTrigger::start()
 	param_get(integration_time, &_integration_time); 	
 	param_get(transfer_time, &_transfer_time); 
 
-	ioctl(_gpio_fd, GPIO_SET_OUTPUT, pin);
+	px4_ioctl(_gpio_fd, GPIO_SET_OUTPUT, pin);
 	
 	if(_polarity == 0)
 	{
-		ioctl(_gpio_fd, GPIO_SET, pin); 	/* GPIO pin pull high */
+		px4_ioctl(_gpio_fd, GPIO_SET, pin); 	/* GPIO pin pull high */
 	}
 	else if(_polarity == 1)
 	{
-		ioctl(_gpio_fd, GPIO_CLEAR, pin); 	/* GPIO pin pull low */
+		px4_ioctl(_gpio_fd, GPIO_CLEAR, pin); 	/* GPIO pin pull low */
 	}	
 	else
 	{
@@ -224,7 +227,9 @@ CameraTrigger::stop()
 	hrt_cancel(&_firecall);
 	hrt_cancel(&_pollcall);
 
-	delete camera_trigger::g_camera_trigger;
+	if (camera_trigger::g_camera_trigger != nullptr) {
+            delete (camera_trigger::g_camera_trigger);
+	}
 }
 
 void
@@ -280,7 +285,7 @@ CameraTrigger::poll(void *arg)
 		trig->_trigger.timestamp = trig->_sensor.timestamp;	/* get IMU timestamp */
 		trig->_trigger.seq = trig->_trigger_seq++;
 
-		if (trig->_trigger_pub > 0) {
+		if (trig->_trigger_pub != nullptr) {
 			orb_publish(ORB_ID(camera_trigger), trig->_trigger_pub, &trig->_trigger);
 		} else {
 			trig->_trigger_pub = orb_advertise(ORB_ID(camera_trigger), &trig->_trigger);
@@ -298,17 +303,18 @@ CameraTrigger::engage(void *arg)
 	CameraTrigger *trig = reinterpret_cast<CameraTrigger *>(arg);
 
 	trig->_gpio_fd = open(PX4FMU_DEVICE_PATH, 0);		
-
-	if(trig->_polarity == 0)  	/* ACTIVE_LOW */
+	if(trig->_gpio_fd == -1)	return;
+	
+	if(trig->_polarity == 0)  	// ACTIVE_LOW 
 	{
-		ioctl(trig->_gpio_fd, GPIO_CLEAR, trig->pin);	
+		px4_ioctl(trig->_gpio_fd, GPIO_CLEAR, trig->pin);	
 	}
-	else if(trig->_polarity == 1)	/* ACTIVE_HIGH */
+	else if(trig->_polarity == 1)	// ACTIVE_HIGH 
 	{
-		ioctl(trig->_gpio_fd, GPIO_SET, trig->pin);		
+		px4_ioctl(trig->_gpio_fd, GPIO_SET, trig->pin);		
 	}
-
-	close(trig->_gpio_fd);	
+	
+	close(trig->_gpio_fd);
 	
 }
 
@@ -319,16 +325,17 @@ CameraTrigger::disengage(void *arg)
 	CameraTrigger *trig = reinterpret_cast<CameraTrigger *>(arg);
 		
 	trig->_gpio_fd = open(PX4FMU_DEVICE_PATH, 0);	
-
-	if(trig->_polarity == 0)  	/* ACTIVE_LOW */
-	{
-		ioctl(trig->_gpio_fd, GPIO_SET, trig->pin);	
-	}
-	else if(trig->_polarity == 1)	/* ACTIVE_HIGH */
-	{
-		ioctl(trig->_gpio_fd, GPIO_CLEAR, trig->pin);		
-	}
+	if(trig->_gpio_fd == -1)	return;
 	
+	if(trig->_polarity == 0)  	// ACTIVE_LOW 
+	{
+		px4_ioctl(trig->_gpio_fd, GPIO_SET, trig->pin);	
+	}
+	else if(trig->_polarity == 1)	// ACTIVE_HIGH 
+	{
+		px4_ioctl(trig->_gpio_fd, GPIO_CLEAR, trig->pin);		
+	}
+
 	close(trig->_gpio_fd);
 	
 }