fix possible overflow in blocking detection, and reindent

diff --git a/modules/devices/robot/blocking_detection_manager/blocking_detection_manager.c b/modules/devices/robot/blocking_detection_manager/blocking_detection_manager.c
index 8b5f547..1e3808b 100644 (file)
--- a/modules/devices/robot/blocking_detection_manager/blocking_detection_manager.c
+++ b/modules/devices/robot/blocking_detection_manager/blocking_detection_manager.c
@@ -71,6 +71,15 @@ void bd_reset(struct blocking_detection * bd)
        IRQ_UNLOCK(flags);
 }
 
        IRQ_UNLOCK(flags);
 }
 

+static inline  uint8_t same_sign(int32_t a, int32_t b)
+{
+       if (a >= 0 && b >= 0)
+               return 1;
+       if (a < 0 && b < 0)
+               return 1;
+       return 0;
+}
+

 /** function to be called periodically */
 void bd_manage_from_speed_cmd(struct blocking_detection * bd,
                              int32_t speed, int32_t cmd)
 /** function to be called periodically */
 void bd_manage_from_speed_cmd(struct blocking_detection * bd,
                              int32_t speed, int32_t cmd)


@@ -87,7 +96,7 @@ void bd_manage_from_speed_cmd(struct blocking_detection * bd,
         * has the same sign than i */
        if ((uint32_t)ABS(i) > bd->i_thres &&
            (bd->speed_thres == 0 || ABS(speed) < bd->speed_thres) &&
         * has the same sign than i */
        if ((uint32_t)ABS(i) > bd->i_thres &&
            (bd->speed_thres == 0 || ABS(speed) < bd->speed_thres) &&

-           (i * cmd > 0)) {
+           same_sign(i, cmd)) {

                if (bd->cpt == bd->cpt_thres - 1)
                        WARNING(E_BLOCKING_DETECTION_MANAGER,
                                "BLOCKING cmd=%ld, speed=%ld i=%ld",
                if (bd->cpt == bd->cpt_thres - 1)
                        WARNING(E_BLOCKING_DETECTION_MANAGER,
                                "BLOCKING cmd=%ld, speed=%ld i=%ld",

diff --git a/modules/devices/robot/blocking_detection_manager/blocking_detection_manager.h b/modules/devices/robot/blocking_detection_manager/blocking_detection_manager.h
index 27b7897..4afce09 100644 (file)
--- a/modules/devices/robot/blocking_detection_manager/blocking_detection_manager.h
+++ b/modules/devices/robot/blocking_detection_manager/blocking_detection_manager.h
@@ -1,6 +1,6 @@
-/*  
+/*

  *  Copyright Droids Corporation (2007)
  *  Copyright Droids Corporation (2007)

- * 
+ *

  *  This program is free software; you can redistribute it and/or modify
  *  it under the terms of the GNU General Public License as published by
  *  the Free Software Foundation; either version 2 of the License, or
  *  This program is free software; you can redistribute it and/or modify
  *  it under the terms of the GNU General Public License as published by
  *  the Free Software Foundation; either version 2 of the License, or


@@ -30,14 +30,14 @@
 
 #include <control_system_manager.h>
 
 
 #include <control_system_manager.h>
 

-/* detect blocking based on motor current. 
+/* detect blocking based on motor current.

  * triggers the blocking if:
  * triggers the blocking if:

- *   - the current in the motor is a above a threshold 
+ *   - the current in the motor is a above a threshold

  *     during n tests
  *   - the speed is below the threshold (if specified)
  *
  * We suppose that i = k1.V - k2.w
  *     during n tests
  *   - the speed is below the threshold (if specified)
  *
  * We suppose that i = k1.V - k2.w

- * (V is the voltage applied on the motor, and w the current speed 
+ * (V is the voltage applied on the motor, and w the current speed

  * of the motor)
  */
 
  * of the motor)
  */
 


@@ -59,34 +59,34 @@ struct blocking_detection {
 };
 
 /** init module, give the cs as parameter */
 };
 
 /** init module, give the cs as parameter */

-void bd_init(struct blocking_detection * bd);
+void bd_init(struct blocking_detection *bd);

 
 

-/** thresholds for current-based blocking detection. If cpt_thres 
+/** thresholds for current-based blocking detection. If cpt_thres

  *  is 0, disable it. */
  *  is 0, disable it. */

-void bd_set_current_thresholds(struct blocking_detection * bd, 
-                              int32_t k1, int32_t k2, 
+void bd_set_current_thresholds(struct blocking_detection *bd,
+                              int32_t k1, int32_t k2,

                               uint32_t i_thres, uint16_t cpt_thres);
 
 /** speed threshold: if speed is above it, disable
                               uint32_t i_thres, uint16_t cpt_thres);
 
 /** speed threshold: if speed is above it, disable

- *  blocking_detection. */
-void bd_set_speed_threshold(struct blocking_detection * bd, 
+ * blocking_detection. */
+void bd_set_speed_threshold(struct blocking_detection *bd,

                            uint16_t speed);
 
 /** reset the blocking */
                            uint16_t speed);
 
 /** reset the blocking */

-void bd_reset(struct blocking_detection * bd);
+void bd_reset(struct blocking_detection *bd);

 
 

-/** function to be called periodicallyn, when we use cs structure */
-void bd_manage_from_cs(struct blocking_detection * bd, struct cs *cs);
+/** function to be called periodically, when we use cs structure */
+void bd_manage_from_cs(struct blocking_detection *bd, struct cs *cs);

 
 /** function to be called periodically, when we use values directly */
 
 /** function to be called periodically, when we use values directly */

-void bd_manage_from_pos_cmd(struct blocking_detection * bd, 
+void bd_manage_from_pos_cmd(struct blocking_detection *bd,

                            int32_t pos, int32_t cmd);
 
 /** function to be called periodically, when we use values directly */
                            int32_t pos, int32_t cmd);
 
 /** function to be called periodically, when we use values directly */

-void bd_manage_from_speed_cmd(struct blocking_detection * bd, 
+void bd_manage_from_speed_cmd(struct blocking_detection *bd,

                              int32_t speed, int32_t cmd);
 
 /** get value of blocking detection */
                              int32_t speed, int32_t cmd);
 
 /** get value of blocking detection */

-uint8_t bd_get(struct blocking_detection * bd);
+uint8_t bd_get(struct blocking_detection *bd);

 
 #endif
 
 #endif