Fixing a crash in the Joystick class. (#3701)

src/Joystick/Joystick.cc

@@ -42,7 +42,6 @@ Joystick::Joystick(const QString& name, int axisCount, int buttonCount, int hatC
     , _rgAxisValues(NULL)
     , _rgCalibration(NULL)
     , _rgButtonValues(NULL)
-    , _rgButtonActions(NULL)
     , _lastButtonBits(0)
     , _throttleMode(ThrottleModeCenterZero)
     , _activeVehicle(NULL)
@@ -53,7 +52,6 @@ Joystick::Joystick(const QString& name, int axisCount, int buttonCount, int hatC
     _rgAxisValues = new int[_axisCount];
     _rgCalibration = new Calibration_t[_axisCount];
     _rgButtonValues = new bool[_totalButtonCount];
-    _rgButtonActions = new QString[_totalButtonCount];
 
     for (int i=0; i<_axisCount; i++) {
         _rgAxisValues[i] = 0;
@@ -61,7 +59,7 @@ Joystick::Joystick(const QString& name, int axisCount, int buttonCount, int hatC
     for (int i=0; i<_totalButtonCount; i++) {
         _rgButtonValues[i] = false;
     }
-    
+
     _loadSettings();
 }
 
@@ -70,66 +68,65 @@ Joystick::~Joystick()
     delete _rgAxisValues;
     delete _rgCalibration;
     delete _rgButtonValues;
-    delete _rgButtonActions;
 }
 
 void Joystick::_loadSettings(void)
 {
     QSettings   settings;
-    
+
     settings.beginGroup(_settingsGroup);
     settings.beginGroup(_name);
-    
+
     bool badSettings = false;
     bool convertOk;
-    
+
     qCDebug(JoystickLog) << "_loadSettings " << _name;
-    
+
     _calibrated = settings.value(_calibratedSettingsKey, false).toBool();
-    
+
     _throttleMode = (ThrottleMode_t)settings.value(_throttleModeSettingsKey, ThrottleModeCenterZero).toInt(&convertOk);
     badSettings |= !convertOk;
-    
+
     qCDebug(JoystickLog) << "_loadSettings calibrated:throttlemode:badsettings" << _calibrated << _throttleMode << badSettings;
-    
+
     QString minTpl  ("Axis%1Min");
     QString maxTpl  ("Axis%1Max");
     QString trimTpl ("Axis%1Trim");
     QString revTpl  ("Axis%1Rev");
-    
+
     for (int axis=0; axis<_axisCount; axis++) {
         Calibration_t* calibration = &_rgCalibration[axis];
-        
+
         calibration->center = settings.value(trimTpl.arg(axis), 0).toInt(&convertOk);
         badSettings |= !convertOk;
-        
+
         calibration->min = settings.value(minTpl.arg(axis), -32768).toInt(&convertOk);
         badSettings |= !convertOk;
-        
+
         calibration->max = settings.value(maxTpl.arg(axis), 32767).toInt(&convertOk);
         badSettings |= !convertOk;
-        
+
         calibration->reversed = settings.value(revTpl.arg(axis), false).toBool();
-        
+
         qCDebug(JoystickLog) << "_loadSettings axis:min:max:trim:reversed:badsettings" << axis << calibration->min << calibration->max << calibration->center << calibration->reversed << badSettings;
     }
-    
+
     for (int function=0; function<maxFunction; function++) {
         int functionAxis;
-        
+
         functionAxis = settings.value(_rgFunctionSettingsKey[function], -1).toInt(&convertOk);
         badSettings |= !convertOk || (functionAxis == -1);
-        
+
         _rgFunctionAxis[function] = functionAxis;
-        
+
         qCDebug(JoystickLog) << "_loadSettings function:axis:badsettings" << function << functionAxis << badSettings;
     }
-    
+
     for (int button=0; button<_buttonCount; button++) {
-        _rgButtonActions[button] = settings.value(QString(_buttonActionSettingsKey).arg(button), QString()).toString();        
+        _rgButtonActions << settings.value(QString(_buttonActionSettingsKey).arg(button), QString()).toString();
         qCDebug(JoystickLog) << "_loadSettings button:action" << button << _rgButtonActions[button];
     }
-    
+
     if (badSettings) {
         _calibrated = false;
         settings.setValue(_calibratedSettingsKey, false);
@@ -139,28 +136,28 @@ void Joystick::_loadSettings(void)
 void Joystick::_saveSettings(void)
 {
     QSettings settings;
-    
+
     settings.beginGroup(_settingsGroup);
     settings.beginGroup(_name);
-    
+
     settings.setValue(_calibratedSettingsKey, _calibrated);
     settings.setValue(_throttleModeSettingsKey, _throttleMode);
-    
+
     qCDebug(JoystickLog) << "_saveSettings calibrated:throttlemode" << _calibrated << _throttleMode;
 
     QString minTpl  ("Axis%1Min");
     QString maxTpl  ("Axis%1Max");
     QString trimTpl ("Axis%1Trim");
     QString revTpl  ("Axis%1Rev");
-    
+
     for (int axis=0; axis<_axisCount; axis++) {
         Calibration_t* calibration = &_rgCalibration[axis];
-        
+
         settings.setValue(trimTpl.arg(axis), calibration->center);
         settings.setValue(minTpl.arg(axis), calibration->min);
         settings.setValue(maxTpl.arg(axis), calibration->max);
         settings.setValue(revTpl.arg(axis), calibration->reversed);
-        
+
         qCDebug(JoystickLog) << "_saveSettings name:axis:min:max:trim:reversed"
                                 << _name
                                 << axis
@@ -169,12 +166,12 @@ void Joystick::_saveSettings(void)
                                 << calibration->center
                                 << calibration->reversed;
     }
-    
+
     for (int function=0; function<maxFunction; function++) {
         settings.setValue(_rgFunctionSettingsKey[function], _rgFunctionAxis[function]);
         qCDebug(JoystickLog) << "_saveSettings name:function:axis" << _name << function << _rgFunctionSettingsKey[function];
     }
-    
+
     for (int button=0; button<_buttonCount; button++) {
         settings.setValue(QString(_buttonActionSettingsKey).arg(button), _rgButtonActions[button]);
         qCDebug(JoystickLog) << "_saveSettings button:action" << button << _rgButtonActions[button];
@@ -187,7 +184,7 @@ float Joystick::_adjustRange(int value, Calibration_t calibration)
     float valueNormalized;
     float axisLength;
     float axisBasis;
-    
+
     if (value > calibration.center) {
         axisBasis = 1.0f;
         valueNormalized = value - calibration.center;
@@ -197,15 +194,15 @@ float Joystick::_adjustRange(int value, Calibration_t calibration)
         valueNormalized = calibration.center - value;
         axisLength =  calibration.center - calibration.min;
     }
-    
+
     float axisPercent = valueNormalized / axisLength;
-    
+
     float correctedValue = axisBasis * axisPercent;
-    
+
     if (calibration.reversed) {
         correctedValue *= -1.0f;
     }
-    
+
 #if 0
     qCDebug(JoystickLog) << "_adjustRange corrected:value:min:max:center:reversed:basis:normalized:length"
                             << correctedValue
@@ -226,7 +223,7 @@ float Joystick::_adjustRange(int value, Calibration_t calibration)
 void Joystick::run(void)
 {
     _open();
-    
+
     while (!_exitThread) {
     _update();
 
@@ -237,7 +234,7 @@ void Joystick::run(void)
             _rgAxisValues[axisIndex] = newAxisValue;
             emit rawAxisValueChanged(axisIndex, newAxisValue);
         }
-        
+
         // Update buttons
         for (int buttonIndex=0; buttonIndex<_buttonCount; buttonIndex++) {
             bool newButtonValue = _getButton(buttonIndex);
@@ -261,14 +258,14 @@ void Joystick::run(void)
                 }
             }
         }
-        
+
         if (_calibrationMode != CalibrationModeCalibrating) {
             int     axis = _rgFunctionAxis[rollFunction];
             float   roll = _adjustRange(_rgAxisValues[axis], _rgCalibration[axis]);
-            
+
                     axis = _rgFunctionAxis[pitchFunction];
             float   pitch = _adjustRange(_rgAxisValues[axis], _rgCalibration[axis]);
-            
+
                     axis = _rgFunctionAxis[yawFunction];
             float   yaw = _adjustRange(_rgAxisValues[axis], _rgCalibration[axis]);
 
@@ -285,28 +282,28 @@ void Joystick::run(void)
             pitch =     std::max(-1.0f, std::min(tanf(asinf(pitch_limited)), 1.0f));
             yaw =       std::max(-1.0f, std::min(tanf(asinf(yaw_limited)), 1.0f));
             throttle =  std::max(-1.0f, std::min(tanf(asinf(throttle_limited)), 1.0f));
-            
+
             // Adjust throttle to 0:1 range
             if (_throttleMode == ThrottleModeCenterZero) {
                 throttle = std::max(0.0f, throttle);
-            } else {                
+            } else {
                 throttle = (throttle + 1.0f) / 2.0f;
             }
-            
+
             // Set up button pressed information
-            
+
             // We only send the buttons the firmwware has reserved
             int reservedButtonCount = _activeVehicle->manualControlReservedButtonCount();
             if (reservedButtonCount == -1) {
                 reservedButtonCount = _totalButtonCount;
             }
-            
+
             quint16 newButtonBits = 0;      // New set of button which are down
             quint16 buttonPressedBits = 0;  // Buttons pressed for manualControl signal
-            
+
             for (int buttonIndex=0; buttonIndex<_totalButtonCount; buttonIndex++) {
                 quint16 buttonBit = 1 << buttonIndex;
-                
+
                 if (!_rgButtonValues[buttonIndex]) {
                     // Button up, just record it
                     newButtonBits |= buttonBit;
@@ -314,7 +311,7 @@ void Joystick::run(void)
                     if (_lastButtonBits & buttonBit) {
                         // Button was up last time through, but is now down which indicates a button press
                         qCDebug(JoystickLog) << "button triggered" << buttonIndex;
-                        
+
                         if (buttonIndex >= reservedButtonCount) {
                             // Button is above firmware reserved set
                             QString buttonAction =_rgButtonActions[buttonIndex];
@@ -328,18 +325,18 @@ void Joystick::run(void)
                     buttonPressedBits |= buttonBit;
                 }
             }
-            
+
             _lastButtonBits = newButtonBits;
-            
+
             qCDebug(JoystickValuesLog) << "name:roll:pitch:yaw:throttle" << name() << roll << -pitch << yaw << throttle;
 
             emit manualControl(roll, -pitch, yaw, throttle, buttonPressedBits, _activeVehicle->joystickMode());
         }
-        
+
         // Sleep, update rate of joystick is approx. 25 Hz (1000 ms / 25 = 40 ms)
         QGC::SLEEP::msleep(40);
     }
-    
+
     _close();
 }
 
@@ -385,7 +382,7 @@ void Joystick::stopPolling(void)
         }
         // FIXME: ****
         //disconnect(this, &Joystick::buttonActionTriggered,  uas, &UAS::triggerAction);
-        
+
         _exitThread = true;
         }
 }
@@ -396,7 +393,7 @@ void Joystick::setCalibration(int axis, Calibration_t& calibration)
         qCWarning(JoystickLog) << "Invalid axis index" << axis;
         return;
     }
-    
+
     _calibrated = true;
     _rgCalibration[axis] = calibration;
     _saveSettings();
@@ -408,7 +405,7 @@ Joystick::Calibration_t Joystick::getCalibration(int axis)
     if (!_validAxis(axis)) {
         qCWarning(JoystickLog) << "Invalid axis index" << axis;
     }
-    
+
     return _rgCalibration[axis];
 }
 
@@ -443,7 +440,7 @@ QStringList Joystick::actions(void)
     if (_activeVehicle) {
         list << _activeVehicle->flightModes();
     }
-    
+
     return list;
 }
 
@@ -453,9 +450,9 @@ void Joystick::setButtonAction(int button, const QString& action)
         qCWarning(JoystickLog) << "Invalid button index" << button;
         return;
     }
-    
+
     qDebug() << "setButtonAction" << action;
-    
+
     _rgButtonActions[button] = action;
     _saveSettings();
     emit buttonActionsChanged(buttonActions());
@@ -466,18 +463,18 @@ QString Joystick::getButtonAction(int button)
     if (!_validButton(button)) {
         qCWarning(JoystickLog) << "Invalid button index" << button;
     }
-    
+
     return _rgButtonActions[button];
 }
 
 QVariantList Joystick::buttonActions(void)
 {
     QVariantList list;
-    
+
     for (int button=0; button<_buttonCount; button++) {
         list += QVariant::fromValue(_rgButtonActions[button]);
     }
-    
+
     return list;
 }
 
@@ -492,7 +489,7 @@ void Joystick::setThrottleMode(int mode)
         qCWarning(JoystickLog) << "Invalid throttle mode" << mode;
         return;
     }
-    
+
     _throttleMode = (ThrottleMode_t)mode;
     _saveSettings();
     emit throttleModeChanged(_throttleMode);
@@ -504,9 +501,9 @@ void Joystick::startCalibrationMode(CalibrationMode_t mode)
         qWarning() << "Incorrect mode CalibrationModeOff";
         return;
     }
-    
+
     _calibrationMode = mode;
-    
+
     if (!isRunning()) {
         _pollingStartedForCalibration = true;
         startPolling(_multiVehicleManager->activeVehicle());
@@ -519,7 +516,7 @@ void Joystick::stopCalibrationMode(CalibrationMode_t mode)
         qWarning() << "Incorrect mode: CalibrationModeOff";
         return;
     }
-    
+
     if (mode == CalibrationModeCalibrating) {
         _calibrationMode = CalibrationModeMonitor;
     } else {

src/Joystick/Joystick.h

@@ -24,7 +24,7 @@ Q_DECLARE_LOGGING_CATEGORY(JoystickValuesLog)
 class Joystick : public QThread
 {
     Q_OBJECT
-    
+
 public:
     Joystick(const QString& name, int axisCount, int buttonCount, int hatCount, MultiVehicleManager* multiVehicleManager);
 
@@ -36,7 +36,7 @@ public:
         int     center;
         bool    reversed;
     } Calibration_t;
-    
+
     typedef enum {
         rollFunction,
         pitchFunction,
@@ -44,76 +44,76 @@ public:
         throttleFunction,
         maxFunction
     } AxisFunction_t;
-    
+
     typedef enum {
         ThrottleModeCenterZero,
         ThrottleModeDownZero,
         ThrottleModeMax
     } ThrottleMode_t;
-    
+
     Q_PROPERTY(QString name READ name CONSTANT)
-    
+
     Q_PROPERTY(bool calibrated MEMBER _calibrated NOTIFY calibratedChanged)
-    
+
     Q_PROPERTY(int totalButtonCount  READ totalButtonCount    CONSTANT)
     Q_PROPERTY(int axisCount    READ axisCount      CONSTANT)
-    
+
     Q_PROPERTY(QStringList actions READ actions CONSTANT)
-    
+
     Q_PROPERTY(QVariantList buttonActions READ buttonActions NOTIFY buttonActionsChanged)
     Q_INVOKABLE void setButtonAction(int button, const QString& action);
     Q_INVOKABLE QString getButtonAction(int button);
-    
+
     Q_PROPERTY(int throttleMode READ throttleMode WRITE setThrottleMode NOTIFY throttleModeChanged)
 
     // Property accessors
 
     int axisCount(void) { return _axisCount; }
     int totalButtonCount(void) { return _totalButtonCount; }
-    
+
     /// Start the polling thread which will in turn emit joystick signals
     void startPolling(Vehicle* vehicle);
     void stopPolling(void);
-    
+
     void setCalibration(int axis, Calibration_t& calibration);
     Calibration_t getCalibration(int axis);
-    
+
     void setFunctionAxis(AxisFunction_t function, int axis);
     int getFunctionAxis(AxisFunction_t function);
-    
+
     QStringList actions(void);
     QVariantList buttonActions(void);
-    
+
     QString name(void) { return _name; }
-    
+
     int throttleMode(void);
     void setThrottleMode(int mode);
-    
+
     typedef enum {
         CalibrationModeOff,         // Not calibrating
         CalibrationModeMonitor,     // Monitors are active, continue to send to vehicle if already polling
         CalibrationModeCalibrating, // Calibrating, stop sending joystick to vehicle
     } CalibrationMode_t;
-    
+
     /// Set the current calibration mode
     void startCalibrationMode(CalibrationMode_t mode);
-    
+
     /// Clear the current calibration mode
     void stopCalibrationMode(CalibrationMode_t mode);
-    
+
 signals:
     void calibratedChanged(bool calibrated);
-    
+
     // The raw signals are only meant for use by calibration
     void rawAxisValueChanged(int index, int value);
     void rawButtonPressedChanged(int index, int pressed);
-    
+
     void buttonActionsChanged(QVariantList actions);
-    
+
     void throttleModeChanged(int mode);
-    
+
     void enabledChanged(bool enabled);
-    
+
     /// Signal containing new joystick information
     ///     @param roll     Range is -1:1, negative meaning roll left, positive meaning roll right
     ///     @param pitch    Range i -1:1, negative meaning pitch down, positive meaning pitch up
@@ -121,9 +121,9 @@ signals:
     ///     @param throttle Range is 0:1, 0 meaning no throttle, 1 meaning full throttle
     ///     @param mode     See Vehicle::JoystickMode_t enum
     void manualControl(float roll, float pitch, float yaw, float throttle, quint16 buttons, int joystickMmode);
-    
+
     void buttonActionTriggered(int action);
-    
+
 protected:
     void _saveSettings(void);
     void _loadSettings(void);
@@ -145,9 +145,9 @@ private:
     virtual void run(void);
 
 protected:
-    
+
     bool    _exitThread;    ///< true: signal thread to exit
-    
+
     QString _name;
     bool    _calibrated;
     int     _axisCount;
@@ -155,24 +155,24 @@ protected:
     int     _hatCount;
     int     _hatButtonCount;
     int     _totalButtonCount;
-    
+
     CalibrationMode_t   _calibrationMode;
-    
+
     int*                _rgAxisValues;
     Calibration_t*      _rgCalibration;
     int                 _rgFunctionAxis[maxFunction];
-    
+
     bool*               _rgButtonValues;
-    QString*            _rgButtonActions;
+    QStringList         _rgButtonActions;
     quint16             _lastButtonBits;
-    
+
     ThrottleMode_t      _throttleMode;
-    
+
     Vehicle*            _activeVehicle;
     bool                _pollingStartedForCalibration;
 
     MultiVehicleManager*    _multiVehicleManager;
-    
+
 private:
     static const char*  _rgFunctionSettingsKey[maxFunction];
 
@@ -181,5 +181,5 @@ private:
     static const char* _buttonActionSettingsKey;
     static const char* _throttleModeSettingsKey;
 };
-    
+
 #endif