[项目笔记1]-novatel driver记录

作者: scott_yu779 | 来源:发表于2018-01-10 14:01 被阅读0次

1、过程记录

sensor_msgs::NavSatStatus::STATUS_FIX
sensor_msgs::NavSatStatus::STATUS_GBAS_FIX;

调试记录

1 segment fault调试记录

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1、调试novatel驱动程序报segmentfualt错误，已经找到问题并解决，

过程记录：
a、cmake工程增加gdb调试信息

SET(CMAKE_BUILD_TYPE "Debug") 
SET(CMAKE_CXX_FLAGS_DEBUG "$ENV{CXXFLAGS} -O0 -Wall -g -ggdb")
SET(CMAKE_CXX_FLAGS_RELEASE "$ENV{CXXFLAGS} -O3 -Wall")

然后重新编译
b、catkin_make -DCMAKE_BUILD_TYPE=Debug
c、然后gdb调试，找到SIGSEGV的错误调用堆栈信息
gdb ./novatel_read_from_file core.xxxx
set args 2018.1.15-1.GPS
run
直到segment fault出现，
使用bt命令就可以看到调用堆栈信息

gdb捕捉的调用堆栈信息，序号越大，表示越早进入函数

d、确定调用栈后，发现时协议版本有更改，修复后
以下部分为出问题的代码的片段
修复前的代码

case PSRDOPB_LOG_TYPE:
            Dop psr_dop;
            header_length = (uint16_t) *(message+3);
            payload_length = (((uint16_t) *(message+9)) << 8) +
                             ((uint16_t) *(message+8));

            // Copy header and unrepeated fields
            memcpy(&psr_dop, message, header_length+24);
            //Copy repeated fields
            memcpy(&psr_dop.prn, message+header_length+28, (4*psr_dop.number_of_prns));
            //Copy CRC
            memcpy(&psr_dop.crc, message+header_length+payload_length, 4);

            if (pseudorange_dop_callback_)
                pseudorange_dop_callback_(psr_dop, read_timestamp_);
            break;

修复后的代码如下，只有一个地方发生了变化
memcpy(&psr_dop, message, header_length+24);中的24变为了28

case PSRDOPB_LOG_TYPE:
        Dop psr_dop;
        //cout << "header_length:" << header_length << endl;//header_length=28
        header_length = (uint16_t) * (message + 3);
        //cout << "payload_length:" << payload_length << endl;//payload_length=2856
        payload_length = (((uint16_t) * (message + 9)) << 8) +
                         ((uint16_t) * (message + 8));

        //Copy header and unrepeated fields
        memcpy(&psr_dop, message, header_length + 28);

        //cout << "psr_dop.number_of_prns:" << psr_dop.number_of_prns << endl;//psr_dop.number_of_prns=2856

        //Copy repeated fields
        memcpy(&psr_dop.prn, message + header_length + 28, (4 * psr_dop.number_of_prns));
        //Copy CRC
        memcpy(&psr_dop.crc, message + header_length + payload_length, 4);

        if (pseudorange_dop_callback_)
            pseudorange_dop_callback_(psr_dop, read_timestamp_);
        break;

[yuhs@yuhs novatel]$./novatel_read_from_file 2018.1.15-1.GPS 
BESTPOS: 
GPS Week: 1984  GPS milliseconds: 110165000
  Latitude: 34.3999
  Longitude: 117.471
  Height: 49.7971

  Solution status: 0
  position type: 50
  number of svs tracked: 19
  number of svs used: 16
BESTPOS: 
GPS Week: 1984  GPS milliseconds: 110166000
  Latitude: 34.3999
  Longitude: 117.471
  Height: 49.7933

  Solution status: 0
  position type: 50
  number of svs tracked: 19
  number of svs used: 16
BESTPOS: 
GPS Week: 1984  GPS milliseconds: 110167000
  Latitude: 34.3999
  Longitude: 117.471
  Height: 49.7869

  Solution status: 0
  position type: 50
  number of svs tracked: 19
  number of svs used: 16
BESTPOS: 
GPS Week: 1984  GPS milliseconds: 110168000
  Latitude: 34.3999
  Longitude: 117.471
  Height: 49.7905

  Solution status: 0
  position type: 50
  number of svs tracked: 19
  number of svs used: 16
BESTPOS: 
GPS Week: 1984  GPS milliseconds: 110169000
  Latitude: 34.3999
  Longitude: 117.471
  Height: 49.7808

  Solution status: 0
  position type: 50
  number of svs tracked: 19
  number of svs used: 16
BESTPOS: 
GPS Week: 1984  GPS milliseconds: 110170000
  Latitude: 34.3999
  Longitude: 117.471
  Height: 49.7824

  Solution status: 0
  position type: 50
  number of svs tracked: 19
  number of svs used: 16
BESTPOS: 
GPS Week: 1984  GPS milliseconds: 110171000
  Latitude: 34.3999
  Longitude: 117.471
  Height: 49.788

  Solution status: 0
  position type: 50
  number of svs tracked: 19
  number of svs used: 16
BESTPOS: 
GPS Week: 1984  GPS milliseconds: 110172000
  Latitude: 34.3999
  Longitude: 117.471
  Height: 49.7816

  Solution status: 0
  position type: 50
  number of svs tracked: 19
  number of svs used: 16
BESTPOS: 
GPS Week: 1984  GPS milliseconds: 110173000
  Latitude: 34.3999
  Longitude: 117.471
  Height: 49.7817

  Solution status: 0
  position type: 50
  number of svs tracked: 19
  number of svs used: 16
BESTPOS: 
GPS Week: 1984  GPS milliseconds: 110174000
  Latitude: 34.3999
  Longitude: 117.471
  Height: 49.7818

  Solution status: 0
  position type: 50
  number of svs tracked: 19
  number of svs used: 16
BESTPOS: 
GPS Week: 1984  GPS milliseconds: 110175000
  Latitude: 34.3999
  Longitude: 117.471
  Height: 49.7873

  Solution status: 0
  position type: 50
  number of svs tracked: 19
  number of svs used: 16
BESTPOS: 
GPS Week: 1984  GPS milliseconds: 110176000
  Latitude: 34.3999
  Longitude: 117.471
  Height: 49.7927

  Solution status: 0
  position type: 50
  number of svs tracked: 19
  number of svs used: 16
BESTPOS: 
GPS Week: 1984  GPS milliseconds: 110177000
  Latitude: 34.3999
  Longitude: 117.471
  Height: 49.7878

  Solution status: 0
  position type: 50
  number of svs tracked: 19
  number of svs used: 16
BESTPOS: 
GPS Week: 1984  GPS milliseconds: 110178000
  Latitude: 34.3999
  Longitude: 117.471
  Height: 49.7842

  Solution status: 0
  position type: 50
  number of svs tracked: 19
  number of svs used: 16
payload_length:2856

mssage[0]is:aa
mssage[1]is:44
mssage[2]is:12
mssage[3]is:1c
mssage[4]is:ae
mssage[5]is:0
mssage[6]is:0
mssage[7]is:3e
mssage[8]is:5c
mssage[9]is:0
mssage[10]is:0
mssage[11]is:0
mssage[12]is:7b
mssage[13]is:b4
mssage[14]is:c0
mssage[15]is:7
mssage[16]is:80
mssage[17]is:e8
mssage[18]is:90
mssage[19]is:6
mssage[20]is:0
mssage[21]is:0
mssage[22]is:0
mssage[23]is:0
mssage[24]is:79
mssage[25]is:17
mssage[26]is:16
mssage[27]is:37

mssage[28]is:cf
mssage[29]is:f7
mssage[30]is:b3
mssage[31]is:3f

mssage[32]is:5a
mssage[33]is:64
mssage[34]is:8b
mssage[35]is:3f

mssage[36]is:a0
mssage[37]is:1a
mssage[38]is:2f
mssage[39]is:3f

mssage[40]is:4a
mssage[41]is:c
mssage[42]is:62
mssage[43]is:3f

mssage[44]is:17
mssage[45]is:d9
mssage[46]is:e
mssage[47]is:3f

mssage[48]is:0
mssage[49]is:0
mssage[50]is:a0
mssage[51]is:40

mssage[52]is:10
mssage[53]is:0
mssage[54]is:0
mssage[55]is:0

mssage[56]is:e
mssage[57]is:0
mssage[58]is:0
mssage[59]is:0
mssage[60]is:12
mssage[61]is:0
mssage[62]is:0
mssage[63]is:0
mssage[64]is:1a
mssage[65]is:0
mssage[66]is:0
mssage[67]is:0
mssage[68]is:16
mssage[69]is:0
mssage[70]is:0
mssage[71]is:0
mssage[72]is:18
mssage[73]is:0
mssage[74]is:0
mssage[75]is:0
mssage[76]is:19
mssage[77]is:0
mssage[78]is:0
mssage[79]is:0
mssage[80]is:a
mssage[81]is:0
mssage[82]is:0
mssage[83]is:0
mssage[84]is:20
mssage[85]is:0
mssage[86]is:0
mssage[87]is:0
mssage[88]is:c
mssage[89]is:0
mssage[90]is:0
mssage[91]is:0
mssage[92]is:1f
mssage[93]is:0
mssage[94]is:0
mssage[95]is:0
mssage[96]is:2f
mssage[97]is:0
mssage[98]is:0
mssage[99]is:0
mssage[100]is:2b
mssage[101]is:0
mssage[102]is:0
mssage[103]is:0
mssage[104]is:2e
mssage[105]is:0
mssage[106]is:0
mssage[107]is:0
mssage[108]is:35
mssage[109]is:0
mssage[110]is:0
mssage[111]is:0
mssage[112]is:2a
mssage[113]is:0
mssage[114]is:0
mssage[115]is:0
mssage[116]is:2c
mssage[117]is:0
mssage[118]is:0
mssage[119]is:0
mssage[120]is:f4
mssage[121]is:47
mssage[122]is:7b
mssage[123]is:86

psr_dop.number_of_prns:135306244
Segmentation fault (core dumped)

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