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我正在运行一段 C 代码，它从 10 个Dynamixel伺服电机（ID、位置、角度、负载扭矩）获取信息并将它们打印到屏幕上，并将其写入日志文件（watchdog_log.txt）。

#include <stdio.h>
#include <stdlib.h>
#include <termio.h>
#include <unistd.h>
#include <string.h>
#include <dynamixel.h>
#include <math.h>
#include <dynamixelAX.h>
#include "utils_v2.h"
#include "low_level_v2AX.h"
#include "low_level_v2.h"


// Control table address
#define P_GOAL_POSITION_L       30
#define P_GOAL_POSITION_H       31
#define P_PRESENT_POSITION_L    36
#define P_PRESENT_POSITION_H    37
#define P_MOVING                46


// Defulat setting
#define DEFAULT_BAUDNUM         34 // 1Mbps
#define DEFAULT_BAUDNUM_AX  1
#define DEFAULT_ID              1


int main()
{
  FILE *fp;

  /* Get actuator ID from command line argument */
  int baudnum = 34;
  int baudnum_AX = 1;
  int deviceIndex = 0;
  int deviceIndex_AX = 1;
  int current;
  float load, angle;

  int i=0;
  int MOTOR_CHAIN[13]={-1,1,1,0,0,0,-1,1,1,0,0,0,-1};
  int MOTOR_CHAIN_AX[18]={2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2}; 
  int MOTOR_HOME[13]={404,444,3216,2037,2289,512,860,661,879,3474,1747,512};  //0, 6 and 12 are dummy
  int MOTOR_HOME_AX[18]={512,512,512,512,512,512,512,512,512,512,512,512,512,512,512,512,512,512,};

  char report[1000];
  char buffer[50];


  strcpy(report,"***********\n");

  /* Initialise Open USB2Dynamixel */
  if( dxl_initialize(deviceIndex, baudnum) == 0 )
    {
      printf( "Failed to open USB2Dynamixel!-chain'0'\n" );
      printf( "Press Enter key to terminate...\n" );

    }
  else
    printf( "Successfully opened USB2Dynamixel 0!\n" );

 if( dxl_initializeAX(deviceIndex_AX, baudnum_AX) == 0 )
    {
      printf( "Failed to open USB2Dynamixel!-chain'1'\n" );
      printf( "Press Enter key to terminate...\n" );
    }
  else
    printf( "Successfully opened USB2Dynamixel 1!\n" );


  /*  Ping all devices */
  printf("Pinging devices...");

  for( i=0; i<=12; i++)
  {
    dxl_ping(i);

   if (dxl_get_result() == COMM_RXSUCCESS)
   { 
    current = (fabs(dxl_read_word(i, 0x34)-512)*10);
    load = dxl_read_word(i, 0x28);
    if (load>=1024)
    load=(load-1024)*0.1;
    else load=load*0.1;

    int theta = dxl_read_word(i, 36);
    angle = counttoangle(MOTOR_CHAIN[i], MOTOR_HOME[i], theta);
    printf("ID: %d success,      Load:  %3.1f,       Count =  %d,     Angle =   %3.2f\n", i, load, theta, angle) ;
    sprintf(buffer,"ID: %d success,      Load:  %3.1f,       Count =  %d,     Angle =   %3.2f\n",i, load, theta, angle);
    strcat(report,buffer);

   }
  else printf("ID: %d failure\n",i);
 }


//File operations
strcat(report,"***********\n\n\n");

fp = fopen("watchdog_log.txt","w"); /* append file (add text to a file or create a file if it does not exist.*/ 
fprintf(fp,"%s",report); /*writes to file*/
fclose(fp); /*done!*/** 

 /* Close device */
  dxl_terminateAX();
  return 0;
  }

我在 Ubuntu 上使用“watch”命令每隔一秒运行一次代码，以不断监控屏幕上代码的输出。

watch -n 1 ./watchdog

未进行文件操作时，终端输出正常。但是当文件写入完成时，终端会给出奇怪的输出：

正常输出 正常输出

奇怪的输出 奇怪的输出

对上述问题的任何帮助将不胜感激。

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1 回答 1

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乍一看，问题在于您的变量： char report[1000]; char buffer[50];

当您与他们一起工作时，他们会溢出。例如 sprintf(buffer,"ID: %d success, Load: %3.1f, Count = %d, Angle = %3.2f\n",i, load, theta, angle); 字符串的最小大小大于 50 字节！所以你可以尝试增加你的字符串变量的大小或计算需要的大小并将它们分配在堆中......

于 2012-08-21T21:26:50.760 回答