Commit 7b2e512d authored by Sergi Hernandez's avatar Sergi Hernandez
Browse files

Solved a bug with some uninitialized pointers in the thread.

Solved a bug when double freeing a mutex when a communication timeout occurs.
parent a58ca46a
......@@ -124,7 +124,8 @@ void CasteRx1::open_device()
this->thread_server->start_thread(this->gps_process_data_thread_id);
// configure the data streams
this->configure_streams();
}catch(CCommException &e){
}catch(CException &e){
this->close_device();
if(this->serial_port!=NULL)
{
delete this->serial_port;
......@@ -139,18 +140,25 @@ void CasteRx1::close_device()
// stop the internal acquisition thread if necessary
this->stop_acquisition();
// close the serial port
if(this->thread_server->get_thread_state(this->gps_process_data_thread_id)==active)
{
if(this->thread_server->get_thread_state(this->gps_process_data_thread_id)==active ||
this->thread_server->get_thread_state(this->gps_process_data_thread_id)==starting)
{
this->event_server->set_event(this->finish_thread_event_id);
this->thread_server->end_thread(this->gps_process_data_thread_id);
}
/* reset any pending events */
if(this->event_server->event_is_set(this->new_reply_event_id))
this->event_server->reset_event(this->new_reply_event_id);
if(this->event_server->event_is_set(this->finish_thread_event_id))
this->event_server->reset_event(this->finish_thread_event_id);
if(this->serial_port!=NULL)
this->serial_port->close();
}
void CasteRx1::start_acquisition()
{
if(this->thread_server->get_thread_state(this->gps_process_data_thread_id)==active)
if(this->thread_server->get_thread_state(this->gps_process_data_thread_id)==active ||
this->thread_server->get_thread_state(this->gps_process_data_thread_id)==starting)
{
if(!this->gps_running)
{
......@@ -333,7 +341,7 @@ void *CasteRx1::gps_process_data_thread(void *params)
CasteRx1 *gps=(CasteRx1 *)params;
static gps_state_t state=header1;
std::list<std::string> events;
unsigned char *data,*sbf_data;
unsigned char *data=NULL,*sbf_data=NULL;
std::string reply;
bool end=false;
......@@ -350,14 +358,20 @@ void *CasteRx1::gps_process_data_thread(void *params)
gps->gps_access.enter();
num=gps->serial_port->get_num_data();
if(data!=NULL)
{
delete[] data;
data=NULL;
}
data=new unsigned char[num];
gps->serial_port->read(data,num);
gps->gps_access.exit();
}catch(CException &e){
std::cout << e.what() << std::endl;
if(data!=NULL)
{
delete[] data;
data=NULL;
}
gps->gps_access.exit();
}
for(i=0;i<num;i++)
......@@ -1237,7 +1251,6 @@ void CasteRx1::send_command(const std::string &cmd)
this->gps_access.exit();
}catch(CEventTimeoutException &e){
// no answer in the allowed time
this->gps_access.exit();
throw CasteRx1Exception(_HERE_,"Device did not answer in time");
}
}
......
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