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mavlink: fix potential busy loop upon USB disconnect

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When disconnecting USB poll returns successfully, but the read returns
-1 with ENOTCONN.
In addition this also ensures there's no busy loop when poll returns an
error.

MAVLink continues to work after reconnecting USB.
This commit is contained in:
Beat Küng
2020-04-06 12:42:10 -04:00
committed by Daniel Agar
parent 4cdc58ce8d
commit 08bfeb3dc7
1 changed files with 10 additions and 1 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+10 -1
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@@ -2809,10 +2809,16 @@ MavlinkReceiver::Run()
updateParams(); updateParams();
} }
if (poll(&fds[0], 1, timeout) > 0) { int ret = poll(&fds[0], 1, timeout);
if (ret > 0) {
if (_mavlink->get_protocol() == Protocol::SERIAL) { if (_mavlink->get_protocol() == Protocol::SERIAL) {
/* non-blocking read. read may return negative values */ /* non-blocking read. read may return negative values */
nread = ::read(fds[0].fd, buf, sizeof(buf)); nread = ::read(fds[0].fd, buf, sizeof(buf));
if (nread == -1 && errno == ENOTCONN) { // Not connected (can happen for USB)
usleep(100000);
}
} }
#if defined(MAVLINK_UDP) #if defined(MAVLINK_UDP)
@@ -2895,6 +2901,9 @@ MavlinkReceiver::Run()
} }
#endif // MAVLINK_UDP #endif // MAVLINK_UDP
} else if (ret == -1) {
usleep(10000);
} }
hrt_abstime t = hrt_absolute_time(); hrt_abstime t = hrt_absolute_time();