fixed segmentation fault

source/RobotAPI/applications/WeissHapticSensor/CMakeLists.txt

@@ -8,7 +8,7 @@ if (Eigen3_FOUND)
         ${Eigen3_INCLUDE_DIR})
 endif()
 
-set(COMPONENT_LIBS ArmarXInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreEigen3Variants WeissHapticSensorListener RobotAPIUnits)
+set(COMPONENT_LIBS ArmarXInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreEigen3Variants WeissHapticSensorListener RobotAPIUnits RobotAPIInterfaces)
 
 set(EXE_SOURCE main.cpp WeissHapticSensorApp.h)
 

source/RobotAPI/applications/WeissHapticSensorsUnit/CMakeLists.txt

@@ -8,7 +8,7 @@ if (Eigen3_FOUND)
         ${Eigen3_INCLUDE_DIR})
 endif()
 
-set(COMPONENT_LIBS ArmarXInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreEigen3Variants WeissHapticSensor RobotAPIUnits)
+set(COMPONENT_LIBS ArmarXInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreEigen3Variants WeissHapticSensor RobotAPIUnits RobotAPIInterfaces)
 
 set(EXE_SOURCE main.cpp WeissHapticSensorsUnitApp.h)
 

source/RobotAPI/drivers/WeissHapticSensor/AbstractInterface.cpp

@@ -10,16 +10,13 @@
 
 
 AbstractInterface::AbstractInterface()
-    : connected(false), log(NULL)
+    : connected(false)
 {
 
 }
 
-AbstractInterface::~AbstractInterface() {
-    if(log != NULL)
-    {
-        delete log;
-    }
+AbstractInterface::~AbstractInterface()
+{
 }
 
 int AbstractInterface::read(unsigned char *buf, unsigned int len)
@@ -47,20 +44,6 @@ int AbstractInterface::write(unsigned char *buf, unsigned int len)
 
 Response AbstractInterface::submitCmd( unsigned char id, unsigned char *payload, unsigned int len, bool pending )
 {
-    /*int res;
-
-    // Check if we're connected
-    if ( !connected )
-    {
-        throw TransmissionException("Interface not connected");
-    }
-
-    // Send command
-    res = send( id, len, payload );
-    if ( res < 0 )
-    {
-        throw TransmissionException("Message send failed");
-    }*/
     fireAndForgetCmd(id, payload, len, pending);
     return receive(pending, id);
 }
@@ -86,7 +69,7 @@ void AbstractInterface::fireAndForgetCmd( unsigned char id, unsigned char *paylo
 
 void AbstractInterface::startLogging(std::string file)
 {
-    log = new BinaryLogger(file);
+    log.reset(new BinaryLogger(file));
 }
 
 void AbstractInterface::logText(std::string message)
@@ -197,8 +180,12 @@ int AbstractInterface::receive( msg_t *msg )
     msg->len = make_short( header[1], header[2] );
 
     // Allocate space for payload and checksum
-    msg->data.resize( msg->len + 2u );
+    //msg->data.resize( msg->len + 2u );
     //if ( !msg->data ) return -1;
+    //boost::shared_ptr<unsigned char[]> data(new unsigned char[ msg->len + 2u ]);
+
+    unsigned char* data = new unsigned char[ msg->len + 2u ];
+
 
     // Read payload and checksum
     /*int maxReads = 10;
@@ -206,7 +193,7 @@ int AbstractInterface::receive( msg_t *msg )
     int dataOffset = 0;
     while ( maxReads > 0 && remaining > 0)
     {
-        int read = this->read( msg->data.data() + dataOffset, remaining );
+        int read = this->read( data + dataOffset, remaining );
         dataOffset += read;
         remaining -= read;
         maxReads--;
@@ -223,9 +210,10 @@ int AbstractInterface::receive( msg_t *msg )
     // Read payload and checksum:
     // payload: msg->len
     // checksum: 2 byte
-    int read = this->read( msg->data.data(), msg->len + 2 );
-    if (read != msg->len + 2)
+    int read = this->read( data, msg->len + 2 );
+    if (read != (int)msg->len + 2)
     {
+        delete[] data;
         throw TransmissionException(str(boost::format("Not enough data (%d, expected %d), Command = %02X") % res % (msg->len + 2) % msg->id));
     }
 
@@ -239,13 +227,16 @@ int AbstractInterface::receive( msg_t *msg )
     }*/
 
     // Check checksum
-    checksum = Checksum::Update_crc16( msg->data.data(), msg->len + 2, checksum );
+    checksum = Checksum::Update_crc16( data, msg->len + 2, checksum );
     if ( checksum != 0 )
     {
+        delete[] data;
         logText("CHECKSUM ERROR");
         throw ChecksumErrorException("Checksum error");
     }
 
+    msg->data = std::vector<unsigned char>(data, data + msg->len + 2);
+    delete[] data;
     logText("receive done.");
     return msg->len + 8;
 }
@@ -281,6 +272,7 @@ int AbstractInterface::send(unsigned char id, unsigned int len, unsigned char *d
     res = write( buf, 6 + len + 2 );
     if ( res < 6 + (int)len + 2 )
     {
+		delete[] buf;
         close();
         throw TransmissionException("Failed to submit message checksum");
         //cerr << "Failed to submit message checksum" << endl;

source/RobotAPI/drivers/WeissHapticSensor/AbstractInterface.h

@@ -4,6 +4,7 @@
 #include <string>
 #include "Types.h"
 #include "BinaryLogger.h"
+#include <boost/shared_ptr.hpp>
 
 
 #define MSG_PREAMBLE_BYTE		0xaa
@@ -55,7 +56,7 @@ protected:
 
 private:
     friend std::ostream& operator<<(std::ostream&, const AbstractInterface&);
-    BinaryLogger* log;
+    boost::shared_ptr<BinaryLogger> log;
 };
 
 std::ostream& operator<<(std::ostream &strm, const AbstractInterface &a);

source/RobotAPI/drivers/WeissHapticSensor/SerialInterface.cpp

@@ -38,6 +38,7 @@ SerialInterface::SerialInterface(const char *device, unsigned int bitrate)
 {
     this->device = device;
     this->bitrate = bitrate;
+	this->fd = -1;
 }
 
 SerialInterface::~SerialInterface() {
@@ -134,19 +135,23 @@ int SerialInterface::readInternal( unsigned char *buf, unsigned int len)
 
 int SerialInterface::blockingReadAll(unsigned char *buf, unsigned int len)
 {
-    int readData = 0;
+    int dataToRead = len;
     while (1)
     {
-        int res = ::read( fd, buf, len );
+        int res = ::read( fd, buf, dataToRead );
         if (res < 0)
         {
             return res;
         }
-        readData += res;
+        dataToRead -= res;
         buf += res;
-        if (readData >= len)
+        if (dataToRead == 0)
         {
-            return readData;
+            return len;
+        }
+        if (dataToRead < 0)
+        {
+            throw new std::runtime_error("Internal error: dataToRead < 0");
         }
         usleep(1);
     }

source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensor.cpp

@@ -6,7 +6,7 @@
 using namespace armarx;
 
 WeissHapticSensor::WeissHapticSensor(std::string device)
-    : device(device)
+    : device(device), connected(false)
 {
     sensorTask = new RunningTask<WeissHapticSensor>(this, &WeissHapticSensor::frameAcquisitionTaskLoop);
     boost::smatch match;

source/RobotAPI/units/CMakeLists.txt

@@ -13,6 +13,8 @@ if (Eigen3_FOUND AND Simox_FOUND)
         ${Simox_INCLUDE_DIRS})
 endif()
 
+message(status ${Eigen3_INCLUDE_DIR})
+
 set(LIB_NAME       RobotAPIUnits)
 set(LIB_VERSION    0.1.0)
 set(LIB_SOVERSION  0)