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Commit 0e913f2a authored by James Talbert's avatar James Talbert
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Fix memory leak

parent f17e6ad0
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quad/src/quad_app/callbacks.c
+ 23
− 22
View file @ 0e913f2a
...@@ -448,6 +448,7 @@ int cb_overrideoutput(struct modular_structs *structs, struct metadata *meta, un ...@@ -448,6 +448,7 @@ int cb_overrideoutput(struct modular_structs *structs, struct metadata *meta, un
float f = build_float(&data[1+i*4]); float f = build_float(&data[1+i*4]);
override_info->values[i] = f; override_info->values[i] = f;
} }
return 0;
} }
int cb_sendrtdata(struct modular_structs *structs, struct metadata *meta, unsigned char *data, unsigned short length) { int cb_sendrtdata(struct modular_structs *structs, struct metadata *meta, unsigned char *data, unsigned short length) {
...@@ -456,32 +457,32 @@ int cb_sendrtdata(struct modular_structs *structs, struct metadata *meta, unsign ...@@ -456,32 +457,32 @@ int cb_sendrtdata(struct modular_structs *structs, struct metadata *meta, unsign
return -1; return -1;
int size = 0; int size = 0;
u32 configData = (data[2] << 24) | (data[3] << 16) | (data[4] << 8) | (data[5]); u32 configData = (data[2] << 24) | (data[3] << 16) | (data[4] << 8) | (data[5]);
structs->flags_struct.lidarflags->quadHeight = read_bit(configData, 31); size += read_bit(configData, 31); structs->flags_struct.lidarflags.quadHeight = read_bit(configData, 31); size += read_bit(configData, 31);
/*BEGIN DOUBLE-TYPE FLAGS. If these are enabled, actual size of data sent is 2*read_bit due to /*BEGIN DOUBLE-TYPE FLAGS. If these are enabled, actual size of data sent is 2*read_bit due to
* length of data. This needs to be compensated for in methods where total length of payload packet * length of data. This needs to be compensated for in methods where total length of payload packet
* needs to be known ahead of time. */ * needs to be known ahead of time. */
structs->flags_struct.optflowflags->x_flow = read_bit(configData, 30); size += read_bit(configData, 30); structs->flags_struct.optflowflags.x_flow = read_bit(configData, 30); size += read_bit(configData, 30);
structs->flags_struct.optflowflags->y_flow = read_bit(configData, 29); size += read_bit(configData, 29); structs->flags_struct.optflowflags.y_flow = read_bit(configData, 29); size += read_bit(configData, 29);
structs->flags_struct.optflowflags->x_filter = read_bit(configData, 28); size += read_bit(configData, 28); structs->flags_struct.optflowflags.x_filter = read_bit(configData, 28); size += read_bit(configData, 28);
structs->flags_struct.optflowflags->y_filter = read_bit(configData, 27); size += read_bit(configData, 27); structs->flags_struct.optflowflags.y_filter = read_bit(configData, 27); size += read_bit(configData, 27);
structs->flags_struct.optflowflags->x_velocity = read_bit(configData, 26); size += read_bit(configData, 26); structs->flags_struct.optflowflags.x_velocity = read_bit(configData, 26); size += read_bit(configData, 26);
structs->flags_struct.optflowflags->y_velocity = read_bit(configData, 25); size += read_bit(configData, 25); structs->flags_struct.optflowflags.y_velocity = read_bit(configData, 25); size += read_bit(configData, 25);
//END DOUBLE TYPE FLAGS. //END DOUBLE TYPE FLAGS.
structs->flags_struct.imuflags->gyro_x = read_bit(configData, 24); size += read_bit(configData, 24); structs->flags_struct.imuflags.gyro_x = read_bit(configData, 24); size += read_bit(configData, 24);
structs->flags_struct.imuflags->gyro_y = read_bit(configData, 23); size += read_bit(configData, 23); structs->flags_struct.imuflags.gyro_y = read_bit(configData, 23); size += read_bit(configData, 23);
structs->flags_struct.imuflags->gyro_z = read_bit(configData, 22); size += read_bit(configData, 22); structs->flags_struct.imuflags.gyro_z = read_bit(configData, 22); size += read_bit(configData, 22);
structs->flags_struct.imuflags->acc_x = read_bit(configData, 21); size += read_bit(configData, 21); structs->flags_struct.imuflags.acc_x = read_bit(configData, 21); size += read_bit(configData, 21);
structs->flags_struct.imuflags->acc_y = read_bit(configData, 20); size += read_bit(configData, 20); structs->flags_struct.imuflags.acc_y = read_bit(configData, 20); size += read_bit(configData, 20);
structs->flags_struct.imuflags->acc_z = read_bit(configData, 19); size += read_bit(configData, 19); structs->flags_struct.imuflags.acc_z = read_bit(configData, 19); size += read_bit(configData, 19);
structs->flags_struct.imuflags->mag_x = read_bit(configData, 18); size += read_bit(configData, 18); structs->flags_struct.imuflags.mag_x = read_bit(configData, 18); size += read_bit(configData, 18);
structs->flags_struct.imuflags->mag_y = read_bit(configData, 17); size += read_bit(configData, 17); structs->flags_struct.imuflags.mag_y = read_bit(configData, 17); size += read_bit(configData, 17);
structs->flags_struct.imuflags->mag_z = read_bit(configData, 16); size += read_bit(configData, 16); structs->flags_struct.imuflags.mag_z = read_bit(configData, 16); size += read_bit(configData, 16);
structs->flags_struct.errorflags->lidar = read_bit(configData, 15); size += read_bit(configData, 15); structs->flags_struct.errorflags.lidar = read_bit(configData, 15); size += read_bit(configData, 15);
structs->flags_struct.errorflags->consec_lidar = read_bit(configData, 14); size += read_bit(configData, 14); structs->flags_struct.errorflags.consec_lidar = read_bit(configData, 14); size += read_bit(configData, 14);
structs->flags_struct.errorflags->optFlow = read_bit(configData, 13); size += read_bit(configData, 13); structs->flags_struct.errorflags.optFlow = read_bit(configData, 13); size += read_bit(configData, 13);
structs->flags_struct.errorflags->consec_optFlow = read_bit(configData, 12); size += read_bit(configData, 12); structs->flags_struct.errorflags.consec_optFlow = read_bit(configData, 12); size += read_bit(configData, 12);
structs->flags_struct.errorflags->imu = read_bit(configData, 11); size += read_bit(configData, 11); structs->flags_struct.errorflags.imu = read_bit(configData, 11); size += read_bit(configData, 11);
structs->flags_struct.errorflags->consec_imu = read_bit(configData, 10); size += read_bit(configData, 10); structs->flags_struct.errorflags.consec_imu = read_bit(configData, 10); size += read_bit(configData, 10);
structs->flags_struct.flag_count = size; structs->flags_struct.flag_count = size;
return 0; return 0;
} }
quad/src/quad_app/log_data.c
+ 45
− 52
View file @ 0e913f2a
...@@ -138,39 +138,39 @@ void initialize_logging(log_t* log_struct, parameter_t* ps, SensorRTFlags_t * fl ...@@ -138,39 +138,39 @@ void initialize_logging(log_t* log_struct, parameter_t* ps, SensorRTFlags_t * fl
addParamToLog(log_struct, ps->flow_quality, CONST_VAL, "none"); addParamToLog(log_struct, ps->flow_quality, CONST_VAL, "none");
int num_outputs = 0; int num_outputs = 0;
if (flags->imuflags->acc_x) if (flags->imuflags.acc_x)
{ {
num_outputs++; num_outputs++;
} }
if (flags->imuflags->acc_y) if (flags->imuflags.acc_y)
{ {
num_outputs++; num_outputs++;
} }
if (flags->imuflags->acc_z) if (flags->imuflags.acc_z)
{ {
num_outputs++; num_outputs++;
} }
if (flags->imuflags->gyro_x) if (flags->imuflags.gyro_x)
{ {
num_outputs++; num_outputs++;
} }
if (flags->imuflags->gyro_y) if (flags->imuflags.gyro_y)
{ {
num_outputs++; num_outputs++;
} }
if (flags->imuflags->gyro_z) if (flags->imuflags.gyro_z)
{ {
num_outputs++; num_outputs++;
} }
if (flags->imuflags->mag_x) if (flags->imuflags.mag_x)
{ {
num_outputs++; num_outputs++;
} }
if (flags->imuflags->mag_y) if (flags->imuflags.mag_y)
{ {
num_outputs++; num_outputs++;
} }
if (flags->imuflags->mag_z) if (flags->imuflags.mag_z)
{ {
num_outputs++; num_outputs++;
} }
...@@ -197,39 +197,39 @@ int log_data(log_t* log_struct, parameter_t* ps, SensorRTFlags_t * flags) ...@@ -197,39 +197,39 @@ int log_data(log_t* log_struct, parameter_t* ps, SensorRTFlags_t * flags)
//TODO make this not stupid //TODO make this not stupid
thisRow[offset++] = log_struct->time_stamp; thisRow[offset++] = log_struct->time_stamp;
if (flags->imuflags->acc_x) if (flags->imuflags.acc_x)
{ {
thisRow[offset++] = log_struct->gam.accel_x; thisRow[offset++] = log_struct->gam.accel_x;
} }
if (flags->imuflags->acc_y) if (flags->imuflags.acc_y)
{ {
thisRow[offset++] = log_struct->gam.accel_y; thisRow[offset++] = log_struct->gam.accel_y;
} }
if (flags->imuflags->acc_z) if (flags->imuflags.acc_z)
{ {
thisRow[offset++] = log_struct->gam.accel_z; thisRow[offset++] = log_struct->gam.accel_z;
} }
if (flags->imuflags->gyro_x) if (flags->imuflags.gyro_x)
{ {
thisRow[offset++] = log_struct->gam.gyro_xVel_p; thisRow[offset++] = log_struct->gam.gyro_xVel_p;
} }
if (flags->imuflags->gyro_y) if (flags->imuflags.gyro_y)
{ {
thisRow[offset++] = log_struct->gam.gyro_yVel_q; thisRow[offset++] = log_struct->gam.gyro_yVel_q;
} }
if (flags->imuflags->gyro_z) if (flags->imuflags.gyro_z)
{ {
thisRow[offset++] = log_struct->gam.gyro_zVel_r; thisRow[offset++] = log_struct->gam.gyro_zVel_r;
} }
if (flags->imuflags->mag_x) if (flags->imuflags.mag_x)
{ {
thisRow[offset++] = log_struct->gam.mag_x; thisRow[offset++] = log_struct->gam.mag_x;
} }
if (flags->imuflags->mag_y) if (flags->imuflags.mag_y)
{ {
thisRow[offset++] = log_struct->gam.mag_y; thisRow[offset++] = log_struct->gam.mag_y;
} }
if (flags->imuflags->mag_z) if (flags->imuflags.mag_z)
{ {
thisRow[offset++] = log_struct->gam.mag_z; thisRow[offset++] = log_struct->gam.mag_z;
} }
...@@ -286,39 +286,39 @@ void RTprintheader(struct CommDriver *comm, log_t* log_struct, parameter_t* ps, ...@@ -286,39 +286,39 @@ void RTprintheader(struct CommDriver *comm, log_t* log_struct, parameter_t* ps,
// TODO make this not stupid // TODO make this not stupid
safe_sprintf_cat(&buf, "%%Time"); safe_sprintf_cat(&buf, "%%Time");
if (flags->imuflags->acc_x) if (flags->imuflags.acc_x)
{ {
safe_sprintf_cat(&buf, "\taccel_x"); safe_sprintf_cat(&buf, "\taccel_x");
} }
if (flags->imuflags->acc_y) if (flags->imuflags.acc_y)
{ {
safe_sprintf_cat(&buf, "\taccel_y"); safe_sprintf_cat(&buf, "\taccel_y");
} }
if (flags->imuflags->acc_z) if (flags->imuflags.acc_z)
{ {
safe_sprintf_cat(&buf, "\taccel_z"); safe_sprintf_cat(&buf, "\taccel_z");
} }
if (flags->imuflags->gyro_x) if (flags->imuflags.gyro_x)
{ {
safe_sprintf_cat(&buf, "\tgyro_x"); safe_sprintf_cat(&buf, "\tgyro_x");
} }
if (flags->imuflags->gyro_y) if (flags->imuflags.gyro_y)
{ {
safe_sprintf_cat(&buf, "\tgyro_y"); safe_sprintf_cat(&buf, "\tgyro_y");
} }
if (flags->imuflags->gyro_z) if (flags->imuflags.gyro_z)
{ {
safe_sprintf_cat(&buf, "\tgyro_z"); safe_sprintf_cat(&buf, "\tgyro_z");
} }
if (flags->imuflags->mag_x) if (flags->imuflags.mag_x)
{ {
safe_sprintf_cat(&buf, "\tmag_x"); safe_sprintf_cat(&buf, "\tmag_x");
} }
if (flags->imuflags->mag_y) if (flags->imuflags.mag_y)
{ {
safe_sprintf_cat(&buf, "\tmag_y_x"); safe_sprintf_cat(&buf, "\tmag_y_x");
} }
if (flags->imuflags->mag_z) if (flags->imuflags.mag_z)
{ {
safe_sprintf_cat(&buf, "\tmag_z"); safe_sprintf_cat(&buf, "\tmag_z");
} }
...@@ -344,39 +344,39 @@ void RTprintheader(struct CommDriver *comm, log_t* log_struct, parameter_t* ps, ...@@ -344,39 +344,39 @@ void RTprintheader(struct CommDriver *comm, log_t* log_struct, parameter_t* ps,
buf.size = 0; buf.size = 0;
safe_sprintf_cat(&buf, "&s"); // The pre-defined ones safe_sprintf_cat(&buf, "&s"); // The pre-defined ones
if (flags->imuflags->acc_x) if (flags->imuflags.acc_x)
{ {
safe_sprintf_cat(&buf, "\tG"); safe_sprintf_cat(&buf, "\tG");
} }
if (flags->imuflags->acc_y) if (flags->imuflags.acc_y)
{ {
safe_sprintf_cat(&buf, "\tG"); safe_sprintf_cat(&buf, "\tG");
} }
if (flags->imuflags->acc_z) if (flags->imuflags.acc_z)
{ {
safe_sprintf_cat(&buf, "\tG"); safe_sprintf_cat(&buf, "\tG");
} }
if (flags->imuflags->gyro_x) if (flags->imuflags.gyro_x)
{ {
safe_sprintf_cat(&buf, "\trad/s"); safe_sprintf_cat(&buf, "\trad/s");
} }
if (flags->imuflags->gyro_y) if (flags->imuflags.gyro_y)
{ {
safe_sprintf_cat(&buf, "\trad/s"); safe_sprintf_cat(&buf, "\trad/s");
} }
if (flags->imuflags->gyro_z) if (flags->imuflags.gyro_z)
{ {
safe_sprintf_cat(&buf, "\trad/s"); safe_sprintf_cat(&buf, "\trad/s");
} }
if (flags->imuflags->mag_x) if (flags->imuflags.mag_x)
{ {
safe_sprintf_cat(&buf, "\tuT"); safe_sprintf_cat(&buf, "\tuT");
} }
if (flags->imuflags->mag_y) if (flags->imuflags.mag_y)
{ {
safe_sprintf_cat(&buf, "\tuT"); safe_sprintf_cat(&buf, "\tuT");
} }
if (flags->imuflags->mag_z) if (flags->imuflags.mag_z)
{ {
safe_sprintf_cat(&buf, "\tuT"); safe_sprintf_cat(&buf, "\tuT");
} }
...@@ -529,20 +529,13 @@ void format_log(int idx, log_t* log_struct, struct str* buf) { ...@@ -529,20 +529,13 @@ void format_log(int idx, log_t* log_struct, struct str* buf) {
Initially sets it so that all debug values are zero Initially sets it so that all debug values are zero
*/ */
void initializeFlags(SensorRTFlags_t * flags) { void initializeFlags(SensorRTFlags_t * flags) {
IMUFlags_t imu = {0,0,0, 0,0,0, 0,0,0};
flags = calloc(1, sizeof(SensorRTFlags_t)); flags->imuflags = imu;
flags -> imuflags = calloc(1, sizeof(IMUFlags_t)); OptFlowFlags_t optf = {0,0, 0,0, 0,0};
flags -> optflowflags = calloc(1, sizeof(OptFlowFlags_t)); flags->optflowflags = optf;
flags -> lidarflags = calloc(1, sizeof(lidarFlags_t)); lidarFlags_t lidar = {0};
flags -> errorflags = calloc(1, sizeof(SensorErrorFlags_t)); flags->lidarflags = lidar;
flags -> flag_count = 0; SensorErrorFlags_t se = {0,0,0, 0,0,0};
} flags->errorflags = se;
flags->flag_count = 0;
void freeFlags(SensorRTFlags_t * flags){
free(flags -> imuflags);
free(flags -> optflowflags);
free(flags -> lidarflags);
free(flags -> errorflags);
free(flags -> flag_count);
free(flags);
} }
quad/src/quad_app/log_data.h
+ 1
− 0
View file @ 0e913f2a
...@@ -15,6 +15,7 @@ ...@@ -15,6 +15,7 @@
void initialize_logging(log_t* log_struct, parameter_t* ps, SensorRTFlags_t * flags); void initialize_logging(log_t* log_struct, parameter_t* ps, SensorRTFlags_t * flags);
void initializeFlags(SensorRTFlags_t * flags);
/** /**
* Adds the given block output to the data to be logged * Adds the given block output to the data to be logged
*/ */
......
quad/src/quad_app/type_def.h
+ 4
− 4
View file @ 0e913f2a
...@@ -535,10 +535,10 @@ typedef struct SensorErrorFlags ...@@ -535,10 +535,10 @@ typedef struct SensorErrorFlags
*/ */
typedef struct SensorRTFlags typedef struct SensorRTFlags
{ {
IMUFlags_t * imuflags; IMUFlags_t imuflags;
OptFlowFlags_t * optflowflags; OptFlowFlags_t optflowflags;
lidarFlags_t * lidarflags; lidarFlags_t lidarflags;
SensorErrorFlags_t * errorflags; SensorErrorFlags_t errorflags;
int flag_count; int flag_count;
} SensorRTFlags_t; } SensorRTFlags_t;
......
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