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AC_Avoidance: correct use of uninitialised value when retrying fence … #26035

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AC_Avoidance: correct use of uninitialised value when retrying fence … #26035

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10 changes: 9 additions & 1 deletion libraries/AC_Avoidance/AP_OADijkstra.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -313,7 +313,7 @@ bool AP_OADijkstra::check_inclusion_polygon_updated() const

// create polygons inside the existing inclusion polygons
// returns true on success. returns false on failure and err_id is updated
bool AP_OADijkstra::create_inclusion_polygon_with_margin(float margin_cm, AP_OADijkstra_Error &err_id)
bool AP_OADijkstra::_create_inclusion_polygon_with_margin(float margin_cm, AP_OADijkstra_Error &err_id)
{
const AC_Fence *fence = AC_Fence::get_singleton();

Expand All @@ -324,6 +324,8 @@ bool AP_OADijkstra::create_inclusion_polygon_with_margin(float margin_cm, AP_OAD

// skip unnecessary retry to build inclusion polygon if previous fence points have not changed
if (_inclusion_polygon_update_ms == fence->polyfence().get_inclusion_polygon_update_ms()) {
// return the error code we returned last time we were called with this fence set:
err_id = last_create_inclusion_polygon_with_margin_error_id;
return false;
}

Expand Down Expand Up @@ -399,6 +401,12 @@ bool AP_OADijkstra::create_inclusion_polygon_with_margin(float margin_cm, AP_OAD
}
return true;
}
bool AP_OADijkstra::create_inclusion_polygon_with_margin(float margin_cm, AP_OADijkstra_Error &err_id)
{
const bool ret = _create_inclusion_polygon_with_margin(margin_cm, err_id);
last_create_inclusion_polygon_with_margin_error_id = err_id;
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couldn't you pass this class variable in from the function that calls this? That is to say remove this:

ardupilot/libraries/AC_Avoidance/AP_OADijkstra.cpp

Line 93 in bddb9aa

AP_OADijkstra_Error error_id;

And use the class variable in its place. I don't think you would need any of the other changes?

return ret;
}

// check if exclusion polygons have been updated since create_exclusion_polygon_with_margin was run
// returns true if changed
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4 changes: 4 additions & 0 deletions libraries/AC_Avoidance/AP_OADijkstra.h
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Original file line number Diff line number Diff line change
Expand Up @@ -76,6 +76,10 @@ class AP_OADijkstra {
// create polygons inside the existing inclusion polygons
// returns true on success. returns false on failure and err_id is updated
bool create_inclusion_polygon_with_margin(float margin_cm, AP_OADijkstra_Error &err_id);
// create polygons inside the existing inclusion polygons
// returns true on success. returns false on failure and err_id is updated. This function is wrapped so we can remember the error ID.
bool _create_inclusion_polygon_with_margin(float margin_cm, AP_OADijkstra_Error &err_id);
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identiacally-named functions like this a ripe for confusion

AP_OADijkstra_Error last_create_inclusion_polygon_with_margin_error_id;

//
// exclusion polygon methods
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