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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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1f84c348fc
If the topic has not been published, orb_copy returns a negative number which causes update() to memset the data contents to zero. In some instances data is a null pointer. This causes a segment violation crash. Added a check for data != 0 Signed-off-by: Mark Charlebois <charlebm@gmail.com>
130 lines
3.3 KiB
C++
130 lines
3.3 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2014, 2015 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file mavlink_orb_subscription.cpp
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* uORB subscription implementation.
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*
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* @author Anton Babushkin <anton.babushkin@me.com>
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* @author Lorenz Meier <lorenz@px4.io>
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*/
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#include <unistd.h>
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#include <stdlib.h>
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#include <string.h>
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#include <uORB/uORB.h>
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#include <stdio.h>
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#include "mavlink_orb_subscription.h"
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MavlinkOrbSubscription::MavlinkOrbSubscription(const orb_id_t topic, int instance) :
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next(nullptr),
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_topic(topic),
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_instance(instance),
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_fd(orb_subscribe_multi(_topic, instance)),
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_published(false)
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{
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}
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MavlinkOrbSubscription::~MavlinkOrbSubscription()
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{
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close(_fd);
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}
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orb_id_t
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MavlinkOrbSubscription::get_topic() const
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{
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return _topic;
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}
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int
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MavlinkOrbSubscription::get_instance() const
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{
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return _instance;
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}
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bool
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MavlinkOrbSubscription::update(uint64_t *time, void* data)
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{
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// TODO this is NOT atomic operation, we can get data newer than time
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// if topic was published between orb_stat and orb_copy calls.
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uint64_t time_topic;
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if (orb_stat(_fd, &time_topic)) {
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/* error getting last topic publication time */
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time_topic = 0;
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}
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if (orb_copy(_topic, _fd, data)) {
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if (data) {
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/* error copying topic data */
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memset(data, 0, _topic->o_size);
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}
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return false;
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} else {
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/* data copied successfully */
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_published = true;
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if (time_topic != *time) {
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*time = time_topic;
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return true;
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} else {
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return false;
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}
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}
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}
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bool
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MavlinkOrbSubscription::update(void* data)
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{
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return !orb_copy(_topic, _fd, data);
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}
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bool
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MavlinkOrbSubscription::is_published()
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{
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if (_published) {
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return true;
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}
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bool updated;
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orb_check(_fd, &updated);
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if (updated) {
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_published = true;
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}
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return _published;
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}
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