Changeset 72 in pacpussensors for trunk/Sick

Timestamp:

Dec 4, 2014, 1:02:02 PM (10 years ago)

Author:

DHERBOMEZ Gérald

Message:

• Correction of a little bug in gps component (property recording bad)
• Improvement of sick lms151 component
• Correction of bug in sick LDRMS : buffer overflow in a memcpy

Location:

trunk/Sick

Files:

• AbstractSickSensor.h (modified) (2 diffs)
• SickLDMRSSensor.cpp (modified) (1 diff)
• SickLDMRSSensor.h (modified) (3 diffs)
• SickLMSSensor.cpp (modified) (1 diff)
• SickLMSSensor.h (modified) (1 diff)
• SickSocket.cpp (modified) (1 diff)

trunk/Sick/AbstractSickSensor.h

@@ -15 +15 @@
 #define ABSTRACTSICKSENSOR_H
 
-#include <QThread>
+#include <QObject>
 #include "SickSocket.h"
 
@@ -45 +45 @@
  * interfaces using SickComponent, used with the PACPUS Framework.
  */
-class AbstractSickSensor : public QThread
+class AbstractSickSensor : public QObject
 {
     Q_OBJECT
 public:
-    void run(){}
 
     virtual void stopActivity() = 0 ; /*!< to stop the processing thread */

trunk/Sick/SickLDMRSSensor.cpp

@@ -322 +322 @@
         // we have a complete message available that we can add to the list
         MessageLDMRS msg;
-        memcpy(msg.body, pendingBytes.data.c_str() + index, msgSize);
-
+                if (msgSize <= sizeof(msg.body))
+                        memcpy(msg.body, pendingBytes.data.c_str() + index, msgSize);
+                else 
+                        LOG_ERROR("Impossible to copy the pending bytes in the MessageLDMRS, checked the size of the body in the code! Data might be corrupted...");
 //        msg->body = messageData;
 

trunk/Sick/SickLDMRSSensor.h

@@ -26 +26 @@
 #include <string>
 
-#define BODY_MAX_SIZE   10000
+// Constants for Sick LDMRS
+static const uint32_t DATA_HEADER_SIZE = 24; // in bytes 
+static const uint32_t SCAN_HEADER_SIZE = 44; // in bytes
+static const uint32_t MEASURED_POINT_DATA_SIZE = 10; // in bytes
+// @12.5Hz, the sensor has a multiresolution: 
+// - lateral range (50 to 30 degrees and -30 to -60 degrees): 0.5 degrees
+// - medium range (30 to 10 degrees and -10 to -30 degrees): 0.25 degrees
+// - central range (10 to -10 degrees): 0.125 degrees
+// So theorically, the max number of points per layer is (20+30)/0.5 + (20+20)/0.25 + 20/0.125 + 1 = 321
+static const uint32_t MAX_SCAN_POINT_PER_LAYER = 321; 
+static const uint32_t MAX_SCAN_POINT = 4 * MAX_SCAN_POINT_PER_LAYER; // 4 layers sensor
+static const uint32_t BODY_MAX_SIZE = DATA_HEADER_SIZE + SCAN_HEADER_SIZE + MEASURED_POINT_DATA_SIZE *  MAX_SCAN_POINT; // 12 908 
 
 // Export macro for SickLDMRS DLL for Windows only
@@ -82 +93 @@
     /** This array pointer points to allocated in memory (basically, in heap (malloc)) and then must be freed (free) when the whole message is decoded and stored. */
     char body[BODY_MAX_SIZE];
-
+        
     //! Time when the message is received.
     road_time_t time;
@@ -120 +131 @@
     ~SickLDMRSSensor();
 
-    void run() {}
 
     void stopActivity(); /*!< To stop the processing thread */

trunk/Sick/SickLMSSensor.cpp

@@ -321 +321 @@
     message->splitMessage = new std::vector<std::string>();
 
-    for(int i; i < message->msgSize; ++i){
+    for(int i=0; i < message->msgSize; ++i){
         std::string* str = new std::string();
         while(message->body[i] != ' ' && i < message->msgSize){

trunk/Sick/SickLMSSensor.h

@@ -104 +104 @@
     ~SickLMSSensor();
 
-    void run() {}
-
     void stopActivity(); /*!< To stop the processing thread. */
     void startActivity(); /*!< To start the processing thread. */

trunk/Sick/SickSocket.cpp

@@ -80 +80 @@
 
   frame->size = socket->read(frame->msg, (qint64) frame->size);
-
-  SickFrameEvent *e = new SickFrameEvent;
+  
+          SickFrameEvent *e = new SickFrameEvent;
   e->frame = frame; 
   QCoreApplication::postEvent((QObject*)myParent, e);