sensors: add missing checks and fix the pollEvents comments

am: 9178ce05cb

* commit '9178ce05cb05831817580fc11fb7b20bc2031319':
  sensors: add missing checks and fix the pollEvents comments

11 files changed, 41 insertions, 19 deletions

diff --git a/peripheral/sensors/mraa/AcquisitionThread.cpp b/peripheral/sensors/mraa/AcquisitionThread.cpp
index 8adc9da..c1c9206 100644
--- a/peripheral/sensors/mraa/AcquisitionThread.cpp
+++ b/peripheral/sensors/mraa/AcquisitionThread.cpp
@@ -54,23 +54,27 @@ void* AcquisitionThread::acquisitionRoutine(void *param) {
 
   /* loop until the thread is canceled */
   while(acquisitionThread->getWritePipeFd() != -1) {
-    /* get data from the sensor */
-    sensor->pollEvents(&data, 1);
+    /* get one event from the sensor */
+    if (sensor->pollEvents(&data, 1) != 1) {
+      ALOGE("%s: Sensor %d: Cannot read data", __func__, data.sensor);
+      goto exit;
+    }
 
     /* send the data over the pipe to the main thread */
     rc = write(acquisitionThread->getWritePipeFd(), &data, sizeof(sensors_event_t));
     if (rc != sizeof(sensors_event_t)) {
-      ALOGE("%s: not all data has been sent over the pipe", __func__);
+      ALOGE("%s: Sensor %d: Cannot write data to pipe", __func__, data.sensor);
+      goto exit;
     }
 
     if (acquisitionThread->getWritePipeFd() == -1) {
+      ALOGE("%s: Sensor %d: The write pipe file descriptor is invalid", __func__, data.sensor);
       goto exit;
     }
 
     timestamp += sensor->getDelay();
     set_timestamp(&target_time, timestamp);
     pthread_cond_timedwait(&acquisitionThread->pthreadCond, &acquisitionThread->pthreadMutex, &target_time);
-
   }
 
 exit:
diff --git a/peripheral/sensors/mraa/Sensor.hpp b/peripheral/sensors/mraa/Sensor.hpp
index f3a9d95..7fc98a2 100644
--- a/peripheral/sensors/mraa/Sensor.hpp
+++ b/peripheral/sensors/mraa/Sensor.hpp
@@ -67,7 +67,7 @@ class Sensor {
      * Poll for events
      * @param data where to store the events
      * @param count the number of events returned must be <= to the count
-     * @return 0 on success and a negative error number otherwise
+     * @return number of events returned in data on success and a negative error number otherwise
      */
     virtual int pollEvents(sensors_event_t* data, int count) = 0;
 
diff --git a/peripheral/sensors/mraa/SensorsHAL.cpp b/peripheral/sensors/mraa/SensorsHAL.cpp
index 10348a9..94f768d 100644
--- a/peripheral/sensors/mraa/SensorsHAL.cpp
+++ b/peripheral/sensors/mraa/SensorsHAL.cpp
@@ -178,21 +178,39 @@ int SensorContext::setDelay(int handle, int64_t ns) {
 int SensorContext::pollEvents(sensors_event_t *data, int count) {
   int nfds, i;
   struct epoll_event ev[MAX_DEVICES];
-  int returned_events = 0;
+  int returnedEvents = 0, sensorIndex = -1;
 
   /* return only when at least one event is available */
   while(true) {
     nfds = epoll_wait(pollFd, ev, MAX_DEVICES, -1);
-    for(i = 0; i < nfds && returned_events < count; i++) {
+    if (nfds < 0) {
+      ALOGE("%s: epoll_wait returned an error: %d", __func__, errno);
+      return nfds;
+    }
+
+    for(i = 0; i < nfds && returnedEvents < count; i++) {
       if (ev[i].events == EPOLLIN) {
+        sensorIndex = ev[i].data.u32;
+        if ((sensorIndex < 0) || (sensorIndex > sensorsNum)) {
+          ALOGE("%s: Invalid sensor index", __func__);
+          return -1;
+        }
 
-        if(sensors[ev[i].data.u32]->readOneEvent(data + returned_events)) {
-          returned_events++;
+        if (sensors[sensorIndex] == nullptr) {
+          ALOGE("%s: Sensor %d is not activated", __func__, sensorIndex);
+          return -1;
+        }
+
+        if (sensors[sensorIndex]->readOneEvent(data + returnedEvents)) {
+          returnedEvents++;
+        } else {
+          ALOGE("%s: Cannot read event from sensor %d", __func__, sensorIndex);
+          return -1;
         }
       }
     }
-    if (returned_events > 0) {
-      return returned_events;
+    if (returnedEvents > 0) {
+      return returnedEvents;
     }
   }
 }
diff --git a/peripheral/sensors/mraa/sensors/GroveLight.hpp b/peripheral/sensors/mraa/sensors/GroveLight.hpp
index 8843058..401e834 100644
--- a/peripheral/sensors/mraa/sensors/GroveLight.hpp
+++ b/peripheral/sensors/mraa/sensors/GroveLight.hpp
@@ -46,7 +46,7 @@ class GroveLight : public Sensor, public upm::GroveLight {
      * Poll for events
      * @param data where to store the events
      * @param count the number of events returned must be <= to the count
-     * @return 0 on success and a negative error number otherwise
+     * @return number of events returned in data on success and a negative error number otherwise
      */
     int pollEvents(sensors_event_t* data, int count) override;
 
diff --git a/peripheral/sensors/mraa/sensors/GroveTemperature.hpp b/peripheral/sensors/mraa/sensors/GroveTemperature.hpp
index 50f296b..a3df4db 100644
--- a/peripheral/sensors/mraa/sensors/GroveTemperature.hpp
+++ b/peripheral/sensors/mraa/sensors/GroveTemperature.hpp
@@ -46,7 +46,7 @@ class GroveTemperature : public Sensor, public upm::GroveTemp {
      * Poll for events
      * @param data where to store the events
      * @param count the number of events returned must be <= to the count
-     * @return 0 on success and a negative error number otherwise
+     * @return number of events returned in data on success and a negative error number otherwise
      */
     int pollEvents(sensors_event_t* data, int count) override;
 
diff --git a/peripheral/sensors/mraa/sensors/LSM303dAccelerometer.hpp b/peripheral/sensors/mraa/sensors/LSM303dAccelerometer.hpp
index 9171799..42d7372 100644
--- a/peripheral/sensors/mraa/sensors/LSM303dAccelerometer.hpp
+++ b/peripheral/sensors/mraa/sensors/LSM303dAccelerometer.hpp
@@ -52,7 +52,7 @@ class LSM303dAccelerometer : public Sensor, public upm::LSM303d {
      * Poll for events
      * @param data where to store the events
      * @param count the number of events returned must be <= to the count
-     * @return 0 on success and a negative error number otherwise
+     * @return number of events returned in data on success and a negative error number otherwise
      */
     int pollEvents(sensors_event_t* data, int count) override;
 
diff --git a/peripheral/sensors/mraa/sensors/LSM303dOrientation.hpp b/peripheral/sensors/mraa/sensors/LSM303dOrientation.hpp
index 99ba077..afc16cc 100644
--- a/peripheral/sensors/mraa/sensors/LSM303dOrientation.hpp
+++ b/peripheral/sensors/mraa/sensors/LSM303dOrientation.hpp
@@ -49,7 +49,7 @@ class LSM303dOrientation : public Sensor, public upm::LSM303d {
      * Poll for events
      * @param data where to store the events
      * @param count the number of events returned must be <= to the count
-     * @return 0 on success and a negative error number otherwise
+     * @return number of events returned in data on success and a negative error number otherwise
      */
     int pollEvents(sensors_event_t* data, int count) override;
 
diff --git a/peripheral/sensors/mraa/sensors/LSM9DS0Accelerometer.hpp b/peripheral/sensors/mraa/sensors/LSM9DS0Accelerometer.hpp
index 31aaf10..4be9acd 100644
--- a/peripheral/sensors/mraa/sensors/LSM9DS0Accelerometer.hpp
+++ b/peripheral/sensors/mraa/sensors/LSM9DS0Accelerometer.hpp
@@ -48,7 +48,7 @@ class LSM9DS0Accelerometer : public Sensor, public upm::LSM9DS0 {
      * Poll for events
      * @param data where to store the events
      * @param count the number of events returned must be <= to the count
-     * @return 0 on success and a negative error number otherwise
+     * @return number of events returned in data on success and a negative error number otherwise
      */
     int pollEvents(sensors_event_t* data, int count) override;
 
diff --git a/peripheral/sensors/mraa/sensors/MMA7660Accelerometer.hpp b/peripheral/sensors/mraa/sensors/MMA7660Accelerometer.hpp
index bfa3c27..5233868 100644
--- a/peripheral/sensors/mraa/sensors/MMA7660Accelerometer.hpp
+++ b/peripheral/sensors/mraa/sensors/MMA7660Accelerometer.hpp
@@ -54,7 +54,7 @@ class MMA7660Accelerometer : public Sensor, public upm::MMA7660 {
      * Poll for events
      * @param data where to store the events
      * @param count the number of events returned must be <= to the count
-     * @return 0 on success and a negative error number otherwise
+     * @return number of events returned in data on success and a negative error number otherwise
      */
     int pollEvents(sensors_event_t* data, int count) override;
 
diff --git a/peripheral/sensors/mraa/sensors/MPU9150Accelerometer.hpp b/peripheral/sensors/mraa/sensors/MPU9150Accelerometer.hpp
index c1cc432..100eb6b 100644
--- a/peripheral/sensors/mraa/sensors/MPU9150Accelerometer.hpp
+++ b/peripheral/sensors/mraa/sensors/MPU9150Accelerometer.hpp
@@ -51,7 +51,7 @@ class MPU9150Accelerometer : public Sensor, public upm::MPU9150 {
      * Poll for events
      * @param data where to store the events
      * @param count the number of events returned must be <= to the count
-     * @return 0 on success and a negative error number otherwise
+     * @return number of events returned in data on success and a negative error number otherwise
      */
     int pollEvents(sensors_event_t* data, int count) override;
 
diff --git a/peripheral/sensors/mraa/sensors/ProximityGPIO.hpp b/peripheral/sensors/mraa/sensors/ProximityGPIO.hpp
index 1ee0547..24935f7 100644
--- a/peripheral/sensors/mraa/sensors/ProximityGPIO.hpp
+++ b/peripheral/sensors/mraa/sensors/ProximityGPIO.hpp
@@ -46,7 +46,7 @@ class ProximityGPIO : public Sensor, public upm::GroveButton {
      * Poll for events
      * @param data where to store the events
      * @param count the number of events returned must be <= to the count
-     * @return 0 on success and a negative error number otherwise
+     * @return number of events returned in data on success and a negative error number otherwise
      */
     int pollEvents(sensors_event_t* data, int count) override;