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Fix CPM objID going oob

This commit is contained in:
emanuel 2022-02-08 18:03:18 +00:00
parent 0fb45843d2
commit 258190395e
1 changed files with 578 additions and 579 deletions
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23
src/cpm.c
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@ -318,7 +318,7 @@ void parse_can_data_tm(u_int32_t u32_can_id, int i32_can_len, u_int8_t* au8_can_
as_objects[u16_objectIndex].f_objectLength = (au8_can_data[6] >> 1) * 0.2f; as_objects[u16_objectIndex].f_objectLength = (au8_can_data[6] >> 1) * 0.2f;
as_objects[u16_objectIndex].u8_objectID = au8_can_data[7]; as_objects[u16_objectIndex].u8_objectID = au8_can_data[7] & 0x7F;
} else if (s_objectControl.u8_objectData0Format == 4) { } else if (s_objectControl.u8_objectData0Format == 4) {
as_objects[u16_objectIndex].f_xPoint = (au8_can_data[1] & 0x3F) << 7; as_objects[u16_objectIndex].f_xPoint = (au8_can_data[1] & 0x3F) << 7;
as_objects[u16_objectIndex].f_xPoint += au8_can_data[0] >> 1; as_objects[u16_objectIndex].f_xPoint += au8_can_data[0] >> 1;
@ -500,12 +500,12 @@ static void set_values(int i, int j, uint64_t timestamp, CPM_t* cpm_tx, long his
cpm_tx->cpm.cpmParameters.perceivedObjectContainer->list.array[j]->objectRefPoint = ObjectRefPoint_bottomMid; cpm_tx->cpm.cpmParameters.perceivedObjectContainer->list.array[j]->objectRefPoint = ObjectRefPoint_bottomMid;
/* Fill History values */ /* Fill History values */
valid_array[(long)as_objects[i].u8_objectID] = 1; // Comparation Array valid_array[as_objects[i].u8_objectID] = 1; // Comparation Array
history_list[(long)as_objects[i].u8_objectID][0] = (long)as_objects[i].f_xPoint * 100; // xPoint (Distance) history_list[as_objects[i].u8_objectID][0] = (long)as_objects[i].f_xPoint * 100; // xPoint (Distance)
history_list[(long)as_objects[i].u8_objectID][1] = (long)as_objects[i].f_yPoint * 100; // yPoint (Distance) history_list[as_objects[i].u8_objectID][1] = (long)as_objects[i].f_yPoint * 100; // yPoint (Distance)
history_list[(long)as_objects[i].u8_objectID][2] = (long)as_objects[i].f_xSpeed * 100; // xSpeed (Speed) history_list[as_objects[i].u8_objectID][2] = (long)as_objects[i].f_xSpeed * 100; // xSpeed (Speed)
history_list[(long)as_objects[i].u8_objectID][3] = (long)as_objects[i].f_ySpeed * 100; // ySpeed (Speed) history_list[as_objects[i].u8_objectID][3] = (long)as_objects[i].f_ySpeed * 100; // ySpeed (Speed)
history_timestamp[(long)as_objects[i].u8_objectID] = timestamp; // Time stamp of detected object history_timestamp[as_objects[i].u8_objectID] = timestamp; // Time stamp of detected object
} }
@ -578,8 +578,7 @@ static int mk_cpm(facilities_t* facilities, uint8_t *bdr_oer, uint32_t *bdr_len,
memset(valid_array, 0, NOF_OBJECTS * sizeof(int)); memset(valid_array, 0, NOF_OBJECTS * sizeof(int));
for(int i = 0; i < cpm_tx->cpm.cpmParameters.perceivedObjectContainer->list.count;i++){ for(int i = 0; i < cpm_tx->cpm.cpmParameters.perceivedObjectContainer->list.count;i++){
syslog_err("oID = %d", as_objects[i].u8_objectID); if(temp[as_objects[i].u8_objectID] == 0 ){ // The object is going to be added without comparison (It is a new object) (valid_array[id] = 0)
if(temp[(long)as_objects[i].u8_objectID] == 0 ){ // The object is going to be added without comparison (It is a new object) (valid_array[id] = 0)
set_values(i,j,generationDeltaTime,cpm_tx,history_list,valid_array,history_timestamp); set_values(i,j,generationDeltaTime,cpm_tx,history_list,valid_array,history_timestamp);
j++; j++;
@ -652,9 +651,9 @@ void *cp_service(void *fc){
u_int8_t au8_readBuffer[READ_BUFFER_SIZE]; u_int8_t au8_readBuffer[READ_BUFFER_SIZE];
u_int8_t au8_readTcp[READ_BUFFER_SIZE]; u_int8_t au8_readTcp[READ_BUFFER_SIZE];
bool is_radar_connected; bool is_radar_connected;
static long history_list[NOF_OBJECTS][4]; long history_list[NOF_OBJECTS][4];
static int valid_array[NOF_OBJECTS]; int valid_array[NOF_OBJECTS];
static uint64_t history_timestamp[NOF_OBJECTS]; uint64_t history_timestamp[NOF_OBJECTS];
facilities_t *facilities = (facilities_t *) fc; facilities_t *facilities = (facilities_t *) fc;
memset(history_list, 0, sizeof(history_list)); memset(history_list, 0, sizeof(history_list));