source: flair-src/trunk/lib/FlairSensorActuator/src/Novatel.cpp @ 196

Last change on this file since 196 was 196, checked in by Sanahuja Guillaume, 4 years ago

avoid buffer overrun

File size: 2.2 KB
Line 
1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5//  created:    2013/08/23
6//  filename:   Novatel.cpp
7//
8//  author:     Guillaume Sanahuja
9//              Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11//  version:    $Id: $
12//
13//  purpose:    objet integrant le recepteur gps Novatel
14//
15//
16/*********************************************************************/
17
18#include "Novatel.h"
19#include <SerialPort.h>
20#include <FrameworkManager.h>
21#include <string.h>
22
23using std::string;
24using namespace flair::core;
25
26namespace flair {
27namespace sensor {
28
29Novatel::Novatel(string name,
30                 SerialPort *serialport, NmeaGps::NMEAFlags_t NMEAFlags,
31                 uint8_t priority)
32    : NmeaGps(name, NMEAFlags), Thread(getFrameworkManager(), name, priority) {
33  this->serialport = serialport;
34 
35  SetIsReady(true);
36}
37
38Novatel::~Novatel() {
39  SafeStop();
40  Join();
41}
42
43void Novatel::Run(void) {
44  ssize_t written;
45
46  WarnUponSwitches(true);
47
48  char to_send[] = "log gpggalong ontime 0.05\n";
49  written = serialport->Write(to_send, sizeof(to_send));
50  if (written < 0) {
51    Thread::Err("erreur write (%s)\n", strerror(-written));
52  }
53  char to_send2[] = "log gpvtg ontime 0.05\n";
54  written = serialport->Write(to_send2, sizeof(to_send2));
55  if (written < 0) {
56    Thread::Err("erreur write (%s)\n", strerror(-written));
57  }
58
59  Sync();
60
61  while (!ToBeStopped()) {
62    char response[1024] = {0};
63    int size = 0;
64    while (!ToBeStopped()) {
65      ssize_t read = serialport->Read(&response[size], 1);
66      if (read < 0) {
67        Thread::Err("erreur Read (%s)\n", strerror(-read));
68      }
69
70      if (response[size] == 0x0a ) break;
71      size++;
72      if (size==sizeof(response)) break;
73    }
74    if (size!=sizeof(response)) {
75      size++;
76      parseFrame(response, size);
77    } else {
78      Thread::Warn("frame too long for buffer\n");
79    }
80  }
81
82  WarnUponSwitches(false);
83}
84
85void Novatel::Sync(void) {
86  char data = 0;
87  ssize_t Read = 0;
88
89  // attente fin trame
90  while (data != 0x0a) {
91    Read = serialport->Read(&data, 1);
92    if (Read < 0) {
93      Thread::Err("erreur Read (%s)\n", strerror(-Read));
94    }
95  }
96}
97
98} // end namespace sensor
99} // end namespace flair
Note: See TracBrowser for help on using the repository browser.