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Fix segmentation fault by adding ctypes function signatures #60

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Fix segmentation fault by adding ctypes function signatures #60

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31 changes: 30 additions & 1 deletion python/VL53L1X.py
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Original file line number Diff line number Diff line change
Expand Up @@ -21,7 +21,7 @@
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
# SOFTWARE.
from ctypes import CDLL, CFUNCTYPE, POINTER, c_int, c_uint, pointer, c_ubyte, c_uint8, c_uint32, c_uint16
from ctypes import CDLL, CFUNCTYPE, POINTER, c_int, c_uint, pointer, c_ubyte, c_uint8, c_uint32, c_uint16, c_void_p
from smbus2 import SMBus, i2c_msg
import os
import site
Expand Down Expand Up @@ -79,6 +79,35 @@ def __init__(self, tlx=0, tly=0, brx=15, bry=15):
else:
raise OSError('Could not find vl53l1x_python.so')

# Configure ctypes return types for C functions
# This is critical to prevent segmentation faults!
_TOF_LIBRARY.initialise.argtypes = [c_ubyte, c_ubyte, c_ubyte, c_ubyte]
_TOF_LIBRARY.initialise.restype = c_void_p

_TOF_LIBRARY.startRanging.argtypes = [c_void_p, c_int]
_TOF_LIBRARY.startRanging.restype = c_int

_TOF_LIBRARY.stopRanging.argtypes = [c_void_p]
_TOF_LIBRARY.stopRanging.restype = None

_TOF_LIBRARY.getDistance.argtypes = [c_void_p]
_TOF_LIBRARY.getDistance.restype = c_int

_TOF_LIBRARY.setDistanceMode.argtypes = [c_void_p, c_int]
_TOF_LIBRARY.setDistanceMode.restype = c_int

_TOF_LIBRARY.setUserRoi.argtypes = [c_void_p, c_int, c_int, c_int, c_int]
_TOF_LIBRARY.setUserRoi.restype = c_int

_TOF_LIBRARY.setMeasurementTimingBudgetMicroSeconds.argtypes = [c_void_p, c_int]
_TOF_LIBRARY.setMeasurementTimingBudgetMicroSeconds.restype = c_int

_TOF_LIBRARY.setInterMeasurementPeriodMilliSeconds.argtypes = [c_void_p, c_int]
_TOF_LIBRARY.setInterMeasurementPeriodMilliSeconds.restype = c_int

_TOF_LIBRARY.setDeviceAddress.argtypes = [c_void_p, c_int]
_TOF_LIBRARY.setDeviceAddress.restype = c_int


class VL53L1X:
"""VL53L1X ToF."""
Expand Down