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https://bitbucket.org/librepilot/librepilot.git
synced 2025-02-27 16:54:15 +01:00
Added more error checking (checking for NULL pointers)
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2835 ebee16cc-31ac-478f-84a7-5cbb03baadba
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pip
pip
parent
3dcd93e66b
commit
931102bf37
@ -33,6 +33,9 @@
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#include <QMutexLocker>
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#include <QDebug>
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// ******************************
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// constructor/destructor
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UAVObjectUtilManager::UAVObjectUtilManager()
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{
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mutex = new QMutex(QMutex::Recursive);
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@ -82,10 +85,10 @@ void UAVObjectUtilManager::saveNextObject()
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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if (!pm) return;
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UAVObjectManager *obm = pm->getObject<UAVObjectManager>();
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if (!obm) return;
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UAVObjectManager *om = pm->getObject<UAVObjectManager>();
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if (!om) return;
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ObjectPersistence *objper = dynamic_cast<ObjectPersistence *>(obm->getObject(ObjectPersistence::NAME));
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ObjectPersistence *objper = dynamic_cast<ObjectPersistence *>(om->getObject(ObjectPersistence::NAME));
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connect(objper, SIGNAL(transactionCompleted(UAVObject *, bool)), this, SLOT(transactionCompleted(UAVObject *, bool)));
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ObjectPersistence::DataFields data;
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@ -119,6 +122,7 @@ int UAVObjectUtilManager::setHomeLocation(double LLA[3], bool save_to_sdcard)
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double ECEF[3];
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double RNE[9];
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double Be[3];
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UAVObjectField *field;
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QMutexLocker locker(mutex);
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@ -131,10 +135,10 @@ int UAVObjectUtilManager::setHomeLocation(double LLA[3], bool save_to_sdcard)
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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if (!pm) return -2;
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UAVObjectManager *obm = pm->getObject<UAVObjectManager>();
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if (!obm) return -3;
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UAVObjectManager *om = pm->getObject<UAVObjectManager>();
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if (!om) return -3;
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UAVDataObject *obj = dynamic_cast<UAVDataObject*>(obm->getObject(QString("HomeLocation")));
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UAVDataObject *obj = dynamic_cast<UAVDataObject*>(om->getObject(QString("HomeLocation")));
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if (!obj) return -4;
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UAVObjectField *ECEF_field = obj->getField(QString("ECEF"));
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@ -146,9 +150,17 @@ int UAVObjectUtilManager::setHomeLocation(double LLA[3], bool save_to_sdcard)
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UAVObjectField *Be_field = obj->getField(QString("Be"));
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if (!Be_field) return -7;
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obj->getField("Latitude")->setDouble(LLA[0] * 10e6);
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obj->getField("Longitude")->setDouble(LLA[1] * 10e6);
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obj->getField("Altitude")->setDouble(LLA[2]);
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field = obj->getField("Latitude");
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if (!field) return -8;
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field->setDouble(LLA[0] * 10e6);
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field = obj->getField("Longitude");
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if (!field) return -9;
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field->setDouble(LLA[1] * 10e6);
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field = obj->getField("Altitude");
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if (!field) return -10;
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field->setDouble(LLA[2]);
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for (int i = 0; i < 3; i++)
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ECEF_field->setDouble(ECEF[i] * 100, i);
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@ -159,7 +171,9 @@ int UAVObjectUtilManager::setHomeLocation(double LLA[3], bool save_to_sdcard)
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for (int i = 0; i < 3; i++)
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Be_field->setDouble(Be[i], i);
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obj->getField("Set")->setValue("TRUE");
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field = obj->getField("Set");
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if (!field) return -11;
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field->setValue("TRUE");
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obj->updated();
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@ -190,24 +204,36 @@ int UAVObjectUtilManager::setHomeLocation(double LLA[3], bool save_to_sdcard)
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int UAVObjectUtilManager::getHomeLocation(bool &set, double LLA[3])
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{
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UAVObjectField *field;
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QMutexLocker locker(mutex);
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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if (!pm) return -1;
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UAVObjectManager *obm = pm->getObject<UAVObjectManager>();
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if (!obm) return -2;
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UAVObjectManager *om = pm->getObject<UAVObjectManager>();
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if (!om) return -2;
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UAVDataObject *obj = dynamic_cast<UAVDataObject*>(obm->getObject(QString("HomeLocation")));
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UAVDataObject *obj = dynamic_cast<UAVDataObject*>(om->getObject(QString("HomeLocation")));
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if (!obj) return -3;
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// obj->requestUpdate();
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set = obj->getField("Set")->getValue().toBool();
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field = obj->getField("Set");
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if (!field) return -4;
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set = field->getValue().toBool();
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LLA[0] = obj->getField("Latitude")->getDouble() * 1e-7;
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LLA[1] = obj->getField("Longitude")->getDouble() * 1e-7;
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LLA[2] = obj->getField("Altitude")->getDouble();
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field = obj->getField("Latitude");
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if (!field) return -5;
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LLA[0] = field->getDouble() * 1e-7;
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field = obj->getField("Longitude");
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if (!field) return -6;
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LLA[1] = field->getDouble() * 1e-7;
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field = obj->getField("Altitude");
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if (!field) return -7;
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LLA[2] = field->getDouble();
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if (LLA[0] != LLA[0]) LLA[0] = 0; // nan detection
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else
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@ -228,42 +254,51 @@ int UAVObjectUtilManager::getHomeLocation(bool &set, double LLA[3])
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int UAVObjectUtilManager::getHomeLocation(bool &set, double LLA[3], double ECEF[3], double RNE[9], double Be[3])
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{
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UAVObjectField *field;
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QMutexLocker locker(mutex);
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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if (!pm) return -1;
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UAVObjectManager *obm = pm->getObject<UAVObjectManager>();
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if (!obm) return -2;
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UAVObjectManager *om = pm->getObject<UAVObjectManager>();
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if (!om) return -2;
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UAVDataObject *obj = dynamic_cast<UAVDataObject*>(obm->getObject(QString("HomeLocation")));
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UAVDataObject *obj = dynamic_cast<UAVDataObject*>(om->getObject(QString("HomeLocation")));
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if (!obj) return -3;
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// obj->requestUpdate();
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UAVObjectField *ECEF_field = obj->getField(QString("ECEF"));
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if (!ECEF_field) return -4;
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field = obj->getField("Set");
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if (!field) return -4;
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set = field->getValue().toBool();
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UAVObjectField *RNE_field = obj->getField(QString("RNE"));
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if (!RNE_field) return -5;
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field = obj->getField("Latitude");
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if (!field) return -5;
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LLA[0] = field->getDouble() * 1e-7;
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UAVObjectField *Be_field = obj->getField(QString("Be"));
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if (!Be_field) return -6;
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field = obj->getField("Longitude");
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if (!field) return -6;
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LLA[1] = field->getDouble() * 1e-7;
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set = obj->getField("Set")->getValue().toBool();
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LLA[0] = obj->getField("Latitude")->getDouble() * 1e-7;
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LLA[1] = obj->getField("Longitude")->getDouble() * 1e-7;
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LLA[2] = obj->getField("Altitude")->getDouble();
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field = obj->getField("Altitude");
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if (!field) return -7;
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LLA[2] = field->getDouble();
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field = obj->getField(QString("ECEF"));
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if (!field) return -8;
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for (int i = 0; i < 3; i++)
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ECEF[i] = ECEF_field->getDouble(i);
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ECEF[i] = field->getDouble(i);
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field = obj->getField(QString("RNE"));
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if (!field) return -9;
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for (int i = 0; i < 9; i++)
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RNE[i] = RNE_field->getDouble(i);
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RNE[i] = field->getDouble(i);
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field = obj->getField(QString("Be"));
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if (!field) return -10;
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for (int i = 0; i < 3; i++)
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Be[i] = Be_field->getDouble(i);
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Be[i] = field->getDouble(i);
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return 0; // OK
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}
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@ -273,22 +308,32 @@ int UAVObjectUtilManager::getHomeLocation(bool &set, double LLA[3], double ECEF[
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int UAVObjectUtilManager::getGPSPosition(double LLA[3])
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{
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UAVObjectField *field;
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QMutexLocker locker(mutex);
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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if (!pm) return -1;
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UAVObjectManager *obm = pm->getObject<UAVObjectManager>();
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if (!obm) return -2;
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UAVObjectManager *om = pm->getObject<UAVObjectManager>();
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if (!om) return -2;
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UAVDataObject *obj = dynamic_cast<UAVDataObject*>(obm->getObject(QString("GPSPosition")));
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UAVDataObject *obj = dynamic_cast<UAVDataObject*>(om->getObject(QString("GPSPosition")));
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if (!obj) return -3;
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// obj->requestUpdate();
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LLA[0] = obj->getField(QString("Latitude"))->getDouble() * 1e-7;
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LLA[1] = obj->getField(QString("Longitude"))->getDouble() * 1e-7;
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LLA[2] = obj->getField(QString("Altitude"))->getDouble();
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field = obj->getField(QString("Latitude"));
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if (!field) return -4;
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LLA[0] = field->getDouble() * 1e-7;
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field = obj->getField(QString("Longitude"));
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if (!field) return -5;
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LLA[1] = field->getDouble() * 1e-7;
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field = obj->getField(QString("Altitude"));
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if (!field) return -6;
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LLA[2] = field->getDouble();
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if (LLA[0] != LLA[0]) LLA[0] = 0; // nan detection
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else
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@ -312,6 +357,8 @@ int UAVObjectUtilManager::getGPSPosition(double LLA[3])
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int UAVObjectUtilManager::setTelemetrySerialPortSpeed(QString speed, bool save_to_sdcard)
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{
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UAVObjectField *field;
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QMutexLocker locker(mutex);
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// ******************
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@ -320,15 +367,14 @@ int UAVObjectUtilManager::setTelemetrySerialPortSpeed(QString speed, bool save_t
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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if (!pm) return -1;
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UAVObjectManager *obm = pm->getObject<UAVObjectManager>();
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if (!obm) return -2;
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UAVObjectManager *om = pm->getObject<UAVObjectManager>();
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if (!om) return -2;
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UAVDataObject *obj = dynamic_cast<UAVDataObject*>(obm->getObject(QString("/*TelemetrySettings*/")));
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UAVDataObject *obj = dynamic_cast<UAVDataObject*>(om->getObject(QString("/*TelemetrySettings*/")));
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if (!obj) return -3;
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UAVObjectField *field = obj->getField(QString("Speed"));
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field = obj->getField(QString("Speed"));
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if (!field) return -4;
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field->setValue(speed);
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obj->updated();
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@ -346,22 +392,23 @@ int UAVObjectUtilManager::setTelemetrySerialPortSpeed(QString speed, bool save_t
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int UAVObjectUtilManager::getTelemetrySerialPortSpeed(QString &speed)
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{
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UAVObjectField *field;
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QMutexLocker locker(mutex);
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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if (!pm) return -1;
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UAVObjectManager *obm = pm->getObject<UAVObjectManager>();
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if (!obm) return -2;
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UAVObjectManager *om = pm->getObject<UAVObjectManager>();
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if (!om) return -2;
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UAVDataObject *obj = dynamic_cast<UAVDataObject*>(obm->getObject(QString("TelemetrySettings")));
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UAVDataObject *obj = dynamic_cast<UAVDataObject*>(om->getObject(QString("TelemetrySettings")));
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if (!obj) return -3;
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// obj->requestUpdate();
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UAVObjectField *field = obj->getField(QString("Speed"));
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field = obj->getField(QString("Speed"));
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if (!field) return -4;
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speed = field->getValue().toString();
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return 0; // OK
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@ -369,6 +416,8 @@ int UAVObjectUtilManager::getTelemetrySerialPortSpeed(QString &speed)
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int UAVObjectUtilManager::getTelemetrySerialPortSpeeds(QComboBox *comboBox)
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{
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UAVObjectField *field;
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QMutexLocker locker(mutex);
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if (!comboBox) return -1;
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@ -376,17 +425,16 @@ int UAVObjectUtilManager::getTelemetrySerialPortSpeeds(QComboBox *comboBox)
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ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
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if (!pm) return -2;
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UAVObjectManager *obm = pm->getObject<UAVObjectManager>();
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if (!obm) return -3;
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UAVObjectManager *om = pm->getObject<UAVObjectManager>();
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if (!om) return -3;
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UAVDataObject *obj = dynamic_cast<UAVDataObject*>(obm->getObject(QString("TelemetrySettings")));
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UAVDataObject *obj = dynamic_cast<UAVDataObject*>(om->getObject(QString("TelemetrySettings")));
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if (!obj) return -4;
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// obj->requestUpdate();
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UAVObjectField *field = obj->getField(QString("Speed"));
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field = obj->getField(QString("Speed"));
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if (!field) return -5;
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comboBox->addItems(field->getOptions());
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return 0; // OK
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