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

Last change on this file since 196 was 196, checked in by Sanahuja Guillaume, 5 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
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