From 58c70778737fc6fa638b5ede33d47232be2c3127 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Fri, 12 Dec 2014 12:18:43 +0100
Subject: [PATCH 1/2] UASWaypointManager: protect against possible null
pointer. Fixes #1117
---
src/uas/UASWaypointManager.cc | 6 +++---
src/uas/UASWaypointManager.h | 3 ++-
2 files changed, 5 insertions(+), 4 deletions(-)
diff --git a/src/uas/UASWaypointManager.cc b/src/uas/UASWaypointManager.cc
index ca57341..9046927 100644
--- a/src/uas/UASWaypointManager.cc
+++ b/src/uas/UASWaypointManager.cc
@@ -47,7 +47,7 @@ UASWaypointManager::UASWaypointManager(UAS* _uas)
current_state(WP_IDLE),
current_partner_systemid(0),
current_partner_compid(0),
- currentWaypointEditable(NULL),
+ currentWaypointEditable(),
protocol_timer(this)
{
@@ -113,7 +113,7 @@ void UASWaypointManager::handleLocalPositionChanged(UASInterface* mav, double x,
{
Q_UNUSED(mav);
Q_UNUSED(time);
- if (waypointsEditable.count() > 0 && currentWaypointEditable && (currentWaypointEditable->getFrame() == MAV_FRAME_LOCAL_NED || currentWaypointEditable->getFrame() == MAV_FRAME_LOCAL_ENU))
+ if (waypointsEditable.count() > 0 && !currentWaypointEditable.isNull() && (currentWaypointEditable->getFrame() == MAV_FRAME_LOCAL_NED || currentWaypointEditable->getFrame() == MAV_FRAME_LOCAL_ENU))
{
double xdiff = x-currentWaypointEditable->getX();
double ydiff = y-currentWaypointEditable->getY();
@@ -131,7 +131,7 @@ void UASWaypointManager::handleGlobalPositionChanged(UASInterface* mav, double l
Q_UNUSED(altWGS84);
Q_UNUSED(lon);
Q_UNUSED(lat);
- if (waypointsEditable.count() > 0 && currentWaypointEditable && (currentWaypointEditable->getFrame() == MAV_FRAME_GLOBAL || currentWaypointEditable->getFrame() == MAV_FRAME_GLOBAL_RELATIVE_ALT))
+ if (waypointsEditable.count() > 0 && !currentWaypointEditable.isNull() && (currentWaypointEditable->getFrame() == MAV_FRAME_GLOBAL || currentWaypointEditable->getFrame() == MAV_FRAME_GLOBAL_RELATIVE_ALT))
{
// TODO FIXME Calculate distance
double dist = 0;
diff --git a/src/uas/UASWaypointManager.h b/src/uas/UASWaypointManager.h
index 4dda426..b617959 100644
--- a/src/uas/UASWaypointManager.h
+++ b/src/uas/UASWaypointManager.h
@@ -35,6 +35,7 @@ This file is part of the QGROUNDCONTROL project
#include <QObject>
#include <QList>
#include <QTimer>
+#include <QPointer>
#include "Waypoint.h"
#include "QGCMAVLink.h"
class UAS;
@@ -180,7 +181,7 @@ private:
QList<Waypoint *> waypointsViewOnly; ///< local copy of current waypoint list on MAV
QList<Waypoint *> waypointsEditable; ///< local editable waypoint list
- Waypoint* currentWaypointEditable; ///< The currently used waypoint
+ QPointer<Waypoint> currentWaypointEditable; ///< The currently used waypoint
QList<mavlink_mission_item_t *> waypoint_buffer; ///< buffer for waypoints during communication
QTimer protocol_timer; ///< Timer to catch timeouts
bool standalone; ///< If standalone is set, do not write to UAS
From 00f95d7701fd30714439edf58f231788a4c5d770 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Fri, 12 Dec 2014 12:19:03 +0100
Subject: [PATCH 2/2] Waypoint2DIcon: protect against possible null pointer.
Fixes #1117
---
src/ui/map/Waypoint2DIcon.cc | 35 +++++++++++++++++++----------------
src/ui/map/Waypoint2DIcon.h | 2 +-
2 files changed, 20 insertions(+), 17 deletions(-)
diff --git a/src/ui/map/Waypoint2DIcon.cc b/src/ui/map/Waypoint2DIcon.cc
index 23d7eb7..9a77643 100644
--- a/src/ui/map/Waypoint2DIcon.cc
+++ b/src/ui/map/Waypoint2DIcon.cc
@@ -6,7 +6,7 @@
Waypoint2DIcon::Waypoint2DIcon(mapcontrol::MapGraphicItem* map, mapcontrol::OPMapWidget* parent, qreal latitude, qreal longitude, qreal altitude, int listindex, QString name, QString description, int radius)
: mapcontrol::WayPointItem(internals::PointLatLng(latitude, longitude), altitude, description, map),
parent(parent),
- waypoint(NULL),
+ waypoint(),
radius(radius),
showAcceptanceRadius(true),
showOrbit(false),
@@ -55,7 +55,7 @@ void Waypoint2DIcon::SetHeading(float heading)
void Waypoint2DIcon::updateWaypoint()
{
- if (waypoint) {
+ if (!waypoint.isNull()) {
// Store old size
static QRectF oldSize;
@@ -97,13 +97,16 @@ QRectF Waypoint2DIcon::boundingRect() const
int loiter = 0;
int acceptance = 0;
internals::PointLatLng coord = (internals::PointLatLng)Coord();
- if (waypoint && showAcceptanceRadius && (waypoint->getAction() == (int)MAV_CMD_NAV_WAYPOINT))
- {
- acceptance = map->metersToPixels(waypoint->getAcceptanceRadius(), coord);
- }
- if (waypoint && ((waypoint->getAction() == (int)MAV_CMD_NAV_LOITER_UNLIM) || (waypoint->getAction() == (int)MAV_CMD_NAV_LOITER_TIME) || (waypoint->getAction() == (int)MAV_CMD_NAV_LOITER_TURNS)))
- {
- loiter = map->metersToPixels(waypoint->getLoiterOrbit(), coord);
+
+ if (!waypoint.isNull()) {
+ if (showAcceptanceRadius && (waypoint->getAction() == (int)MAV_CMD_NAV_WAYPOINT))
+ {
+ acceptance = map->metersToPixels(waypoint->getAcceptanceRadius(), coord);
+ }
+ if (((waypoint->getAction() == (int)MAV_CMD_NAV_LOITER_UNLIM) || (waypoint->getAction() == (int)MAV_CMD_NAV_LOITER_TIME) || (waypoint->getAction() == (int)MAV_CMD_NAV_LOITER_TURNS)))
+ {
+ loiter = map->metersToPixels(waypoint->getLoiterOrbit(), coord);
+ }
}
int width = qMax(picture.width()/2, qMax(loiter, acceptance));
@@ -156,7 +159,7 @@ void Waypoint2DIcon::drawIcon()
// If this is not a waypoint (only the default representation)
// or it is a waypoint, but not one where direction has no meaning
// then draw the heading indicator
- if (!waypoint || (waypoint && (
+ if (waypoint.isNull() || (waypoint && (
(waypoint->getAction() != (int)MAV_CMD_NAV_TAKEOFF) &&
(waypoint->getAction() != (int)MAV_CMD_NAV_LAND) &&
(waypoint->getAction() != (int)MAV_CMD_NAV_LOITER_UNLIM) &&
@@ -171,7 +174,7 @@ void Waypoint2DIcon::drawIcon()
painter.drawLine(p.x(), p.y(), p.x()+sin(Heading()/180.0f*M_PI) * rad, p.y()-cos(Heading()/180.0f*M_PI) * rad);
}
- if ((waypoint != NULL) && (waypoint->getAction() == (int)MAV_CMD_NAV_TAKEOFF))
+ if (((!waypoint.isNull())) && (waypoint->getAction() == (int)MAV_CMD_NAV_TAKEOFF))
{
// Takeoff waypoint
int width = picture.width()-penWidth;
@@ -187,7 +190,7 @@ void Waypoint2DIcon::drawIcon()
painter.setPen(pen2);
painter.drawRect(width*0.3, height*0.3f, width*0.6f, height*0.6f);
}
- else if ((waypoint != NULL) && (waypoint->getAction() == (int)MAV_CMD_NAV_LAND))
+ else if (((!waypoint.isNull())) && (waypoint->getAction() == (int)MAV_CMD_NAV_LAND))
{
// Landing waypoint
int width = (picture.width())/2-penWidth;
@@ -199,7 +202,7 @@ void Waypoint2DIcon::drawIcon()
painter.drawEllipse(p, width, height);
painter.drawLine(p.x()-width/2, p.y()-height/2, 2*width, 2*height);
}
- else if ((waypoint != NULL) && ((waypoint->getAction() == (int)MAV_CMD_NAV_LOITER_UNLIM) || (waypoint->getAction() == (int)MAV_CMD_NAV_LOITER_TIME) || (waypoint->getAction() == (int)MAV_CMD_NAV_LOITER_TURNS)))
+ else if (((!waypoint.isNull())) && ((waypoint->getAction() == (int)MAV_CMD_NAV_LOITER_UNLIM) || (waypoint->getAction() == (int)MAV_CMD_NAV_LOITER_TIME) || (waypoint->getAction() == (int)MAV_CMD_NAV_LOITER_TURNS)))
{
// Loiter waypoint
int width = (picture.width()-penWidth)/2;
@@ -211,7 +214,7 @@ void Waypoint2DIcon::drawIcon()
painter.drawEllipse(p, width, height);
painter.drawPoint(p);
}
- else if ((waypoint != NULL) && (waypoint->getAction() == (int)MAV_CMD_NAV_RETURN_TO_LAUNCH))
+ else if (((!waypoint.isNull())) && (waypoint->getAction() == (int)MAV_CMD_NAV_RETURN_TO_LAUNCH))
{
// Return to launch waypoint
int width = picture.width()-penWidth;
@@ -284,7 +287,7 @@ void Waypoint2DIcon::paint(QPainter *painter, const QStyleOptionGraphicsItem *op
penBlack.setWidth(4);
pen.setColor(color);
- if ((waypoint) && (waypoint->getAction() == (int)MAV_CMD_NAV_WAYPOINT) && showAcceptanceRadius)
+ if ((!waypoint.isNull()) && (waypoint->getAction() == (int)MAV_CMD_NAV_WAYPOINT) && showAcceptanceRadius)
{
QPen redPen = QPen(pen);
redPen.setColor(Qt::yellow);
@@ -298,7 +301,7 @@ void Waypoint2DIcon::paint(QPainter *painter, const QStyleOptionGraphicsItem *op
painter->drawEllipse(QPointF(0, 0), acceptance, acceptance);
}
}
- if ((waypoint) && ((waypoint->getAction() == (int)MAV_CMD_NAV_LOITER_UNLIM) || (waypoint->getAction() == (int)MAV_CMD_NAV_LOITER_TIME) || (waypoint->getAction() == (int)MAV_CMD_NAV_LOITER_TURNS)))
+ if ((!waypoint.isNull()) && ((waypoint->getAction() == (int)MAV_CMD_NAV_LOITER_UNLIM) || (waypoint->getAction() == (int)MAV_CMD_NAV_LOITER_TIME) || (waypoint->getAction() == (int)MAV_CMD_NAV_LOITER_TURNS)))
{
QPen penDash(color);
penDash.setWidth(1);
diff --git a/src/ui/map/Waypoint2DIcon.h b/src/ui/map/Waypoint2DIcon.h
index 2a1ded7..a778368 100644
--- a/src/ui/map/Waypoint2DIcon.h
+++ b/src/ui/map/Waypoint2DIcon.h
@@ -42,7 +42,7 @@ public:
protected:
mapcontrol::OPMapWidget* parent; ///< Parent widget
- Waypoint* waypoint; ///< Waypoint data container this icon represents
+ QPointer<Waypoint> waypoint; ///< Waypoint data container this icon represents
int radius; ///< Radius / diameter of the icon in pixels
bool showAcceptanceRadius;
bool showOrbit;