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Fix SITL segfault in camera trigger #12547

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merged 2 commits into from
Aug 6, 2019
Merged

Fix SITL segfault in camera trigger #12547

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8e99d8b
camera trigger: do not try to start if interface was not created
RomanBapst Jul 24, 2019
de794fb
posix configs: set trigger interface to mavlink as it's the only one
RomanBapst Jul 24, 2019
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2 changes: 2 additions & 0 deletions ROMFS/px4fmu_common/init.d-posix/rcS
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Original file line number Diff line number Diff line change
Expand Up @@ -162,6 +162,8 @@ then
param set SENS_DPRES_OFF 0.001
param set SYS_RESTART_TYPE 2

param set TRIG_INTERFACE 3

param set WEST_EN 0
fi

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27 changes: 23 additions & 4 deletions src/drivers/camera_trigger/camera_trigger.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -133,7 +133,7 @@ class CameraTrigger : public px4::ScheduledWorkItem
/**
* Start the task.
*/
void start();
bool start();

/**
* Stop the task.
Expand Down Expand Up @@ -329,7 +329,9 @@ CameraTrigger::CameraTrigger() :

CameraTrigger::~CameraTrigger()
{
delete (_camera_interface);
if (_camera_interface != nullptr) {
delete (_camera_interface);
}

camera_trigger::g_camera_trigger = nullptr;
}
Expand Down Expand Up @@ -427,9 +429,19 @@ CameraTrigger::shoot_once()
}
}

void
bool
CameraTrigger::start()
{
if (_camera_interface == nullptr) {
if (camera_trigger::g_camera_trigger != nullptr) {
delete (camera_trigger::g_camera_trigger);
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camera_trigger::g_camera_trigger = nullptr;

}

return false;
}

if ((_trigger_mode == TRIGGER_MODE_INTERVAL_ALWAYS_ON ||
_trigger_mode == TRIGGER_MODE_DISTANCE_ALWAYS_ON) &&
_camera_interface->has_power_control() &&
Expand All @@ -456,6 +468,8 @@ CameraTrigger::start()

// start to monitor at high rate for trigger enable command
ScheduleNow();

return true;
}

void
Expand All @@ -472,6 +486,7 @@ CameraTrigger::stop()

if (camera_trigger::g_camera_trigger != nullptr) {
delete (camera_trigger::g_camera_trigger);
camera_trigger::g_camera_trigger = nullptr;
}
}

Expand Down Expand Up @@ -827,7 +842,11 @@ int camera_trigger_main(int argc, char *argv[])
return 1;
}

camera_trigger::g_camera_trigger->start();
if (!camera_trigger::g_camera_trigger->start()) {
PX4_WARN("failed to start camera trigger");
return 1;
}

return 0;
}

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