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AP_ESC_Telem: getters: check index is in range first
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@IamPete1 @robertlong13
IamPete1 authored and robertlong13 committed Sep 10, 2024
1 parent ebc01cc commit b415d39
Showing 1 changed file with 50 additions and 20 deletions.
70 changes: 50 additions & 20 deletions libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -238,9 +238,12 @@ bool AP_ESC_Telem::get_raw_rpm(uint8_t esc_index, float& rpm) const
// get an individual ESC's temperature in centi-degrees if available, returns true on success
bool AP_ESC_Telem::get_temperature(uint8_t esc_index, int16_t& temp) const
{
if (esc_index >= ESC_TELEM_MAX_ESCS) {
return false;
}

const volatile AP_ESC_Telem_Backend::TelemetryData& telemdata = _telem_data[esc_index];
if (esc_index >= ESC_TELEM_MAX_ESCS
|| !telemdata.valid(AP_ESC_Telem_Backend::TelemetryType::TEMPERATURE | AP_ESC_Telem_Backend::TelemetryType::TEMPERATURE_EXTERNAL)) {
if (!telemdata.valid(AP_ESC_Telem_Backend::TelemetryType::TEMPERATURE | AP_ESC_Telem_Backend::TelemetryType::TEMPERATURE_EXTERNAL)) {
return false;
}
temp = telemdata.temperature_cdeg;
Expand All @@ -250,9 +253,12 @@ bool AP_ESC_Telem::get_temperature(uint8_t esc_index, int16_t& temp) const
// get an individual motor's temperature in centi-degrees if available, returns true on success
bool AP_ESC_Telem::get_motor_temperature(uint8_t esc_index, int16_t& temp) const
{
if (esc_index >= ESC_TELEM_MAX_ESCS) {
return false;
}

const volatile AP_ESC_Telem_Backend::TelemetryData& telemdata = _telem_data[esc_index];
if (esc_index >= ESC_TELEM_MAX_ESCS
|| !telemdata.valid(AP_ESC_Telem_Backend::TelemetryType::MOTOR_TEMPERATURE | AP_ESC_Telem_Backend::TelemetryType::MOTOR_TEMPERATURE_EXTERNAL)) {
if (!telemdata.valid(AP_ESC_Telem_Backend::TelemetryType::MOTOR_TEMPERATURE | AP_ESC_Telem_Backend::TelemetryType::MOTOR_TEMPERATURE_EXTERNAL)) {
return false;
}
temp = telemdata.motor_temp_cdeg;
Expand All @@ -278,9 +284,12 @@ bool AP_ESC_Telem::get_highest_temperature(int16_t& temp) const
// get an individual ESC's current in Ampere if available, returns true on success
bool AP_ESC_Telem::get_current(uint8_t esc_index, float& amps) const
{
if (esc_index >= ESC_TELEM_MAX_ESCS) {
return false;
}

const volatile AP_ESC_Telem_Backend::TelemetryData& telemdata = _telem_data[esc_index];
if (esc_index >= ESC_TELEM_MAX_ESCS
|| !telemdata.valid(AP_ESC_Telem_Backend::TelemetryType::CURRENT)) {
if (!telemdata.valid(AP_ESC_Telem_Backend::TelemetryType::CURRENT)) {
return false;
}
amps = telemdata.current;
Expand All @@ -290,9 +299,12 @@ bool AP_ESC_Telem::get_current(uint8_t esc_index, float& amps) const
// get an individual ESC's voltage in Volt if available, returns true on success
bool AP_ESC_Telem::get_voltage(uint8_t esc_index, float& volts) const
{
if (esc_index >= ESC_TELEM_MAX_ESCS) {
return false;
}

const volatile AP_ESC_Telem_Backend::TelemetryData& telemdata = _telem_data[esc_index];
if (esc_index >= ESC_TELEM_MAX_ESCS
|| !telemdata.valid(AP_ESC_Telem_Backend::TelemetryType::VOLTAGE)) {
if (!telemdata.valid(AP_ESC_Telem_Backend::TelemetryType::VOLTAGE)) {
return false;
}
volts = telemdata.voltage;
Expand All @@ -302,9 +314,12 @@ bool AP_ESC_Telem::get_voltage(uint8_t esc_index, float& volts) const
// get an individual ESC's energy consumption in milli-Ampere.hour if available, returns true on success
bool AP_ESC_Telem::get_consumption_mah(uint8_t esc_index, float& consumption_mah) const
{
if (esc_index >= ESC_TELEM_MAX_ESCS) {
return false;
}

const volatile AP_ESC_Telem_Backend::TelemetryData& telemdata = _telem_data[esc_index];
if (esc_index >= ESC_TELEM_MAX_ESCS
|| !telemdata.valid(AP_ESC_Telem_Backend::TelemetryType::CONSUMPTION)) {
if (!telemdata.valid(AP_ESC_Telem_Backend::TelemetryType::CONSUMPTION)) {
return false;
}
consumption_mah = telemdata.consumption_mah;
Expand All @@ -314,9 +329,12 @@ bool AP_ESC_Telem::get_consumption_mah(uint8_t esc_index, float& consumption_mah
// get an individual ESC's usage time in seconds if available, returns true on success
bool AP_ESC_Telem::get_usage_seconds(uint8_t esc_index, uint32_t& usage_s) const
{
if (esc_index >= ESC_TELEM_MAX_ESCS) {
return false;
}

const volatile AP_ESC_Telem_Backend::TelemetryData& telemdata = _telem_data[esc_index];
if (esc_index >= ESC_TELEM_MAX_ESCS
|| !telemdata.valid(AP_ESC_Telem_Backend::TelemetryType::USAGE)) {
if (!telemdata.valid(AP_ESC_Telem_Backend::TelemetryType::USAGE)) {
return false;
}
usage_s = telemdata.usage_s;
Expand All @@ -327,9 +345,12 @@ bool AP_ESC_Telem::get_usage_seconds(uint8_t esc_index, uint32_t& usage_s) const
// get an individual ESC's input duty cycle if available, returns true on success
bool AP_ESC_Telem::get_input_duty(uint8_t esc_index, uint8_t& input_duty) const
{
if (esc_index >= ESC_TELEM_MAX_ESCS) {
return false;
}

const volatile AP_ESC_Telem_Backend::TelemetryData& telemdata = _telem_data[esc_index];
if (esc_index >= ESC_TELEM_MAX_ESCS
|| !telemdata.valid(AP_ESC_Telem_Backend::TelemetryType::INPUT_DUTY)) {
if (!telemdata.valid(AP_ESC_Telem_Backend::TelemetryType::INPUT_DUTY)) {
return false;
}
input_duty = telemdata.input_duty;
Expand All @@ -339,9 +360,12 @@ bool AP_ESC_Telem::get_input_duty(uint8_t esc_index, uint8_t& input_duty) const
// get an individual ESC's output duty cycle if available, returns true on success
bool AP_ESC_Telem::get_output_duty(uint8_t esc_index, uint8_t& output_duty) const
{
if (esc_index >= ESC_TELEM_MAX_ESCS) {
return false;
}

const volatile AP_ESC_Telem_Backend::TelemetryData& telemdata = _telem_data[esc_index];
if (esc_index >= ESC_TELEM_MAX_ESCS
|| !telemdata.valid(AP_ESC_Telem_Backend::TelemetryType::OUTPUT_DUTY)) {
if (!telemdata.valid(AP_ESC_Telem_Backend::TelemetryType::OUTPUT_DUTY)) {
return false;
}
output_duty = telemdata.output_duty;
Expand All @@ -351,9 +375,12 @@ bool AP_ESC_Telem::get_output_duty(uint8_t esc_index, uint8_t& output_duty) cons
// get an individual ESC's status flags if available, returns true on success
bool AP_ESC_Telem::get_flags(uint8_t esc_index, uint32_t& flags) const
{
if (esc_index >= ESC_TELEM_MAX_ESCS) {
return false;
}

const volatile AP_ESC_Telem_Backend::TelemetryData& telemdata = _telem_data[esc_index];
if (esc_index >= ESC_TELEM_MAX_ESCS
|| !telemdata.valid(AP_ESC_Telem_Backend::TelemetryType::FLAGS)) {
if (!telemdata.valid(AP_ESC_Telem_Backend::TelemetryType::FLAGS)) {
return false;
}
flags = telemdata.flags;
Expand All @@ -363,9 +390,12 @@ bool AP_ESC_Telem::get_flags(uint8_t esc_index, uint32_t& flags) const
// get an individual ESC's percentage of output power if available, returns true on success
bool AP_ESC_Telem::get_power_percentage(uint8_t esc_index, uint8_t& power_percentage) const
{
if (esc_index >= ESC_TELEM_MAX_ESCS) {
return false;
}

const volatile AP_ESC_Telem_Backend::TelemetryData& telemdata = _telem_data[esc_index];
if (esc_index >= ESC_TELEM_MAX_ESCS
|| !telemdata.valid(AP_ESC_Telem_Backend::TelemetryType::POWER_PERCENTAGE)) {
if (!telemdata.valid(AP_ESC_Telem_Backend::TelemetryType::POWER_PERCENTAGE)) {
return false;
}
power_percentage = telemdata.power_percentage;
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