Merged master into beta

src/modules/commander/state_machine_helper.cpp

@@ -42,6 +42,8 @@
 #include <unistd.h>
 #include <stdint.h>
 #include <stdbool.h>
+#include <dirent.h>
+#include <fcntl.h>
 
 #include <uORB/uORB.h>
 #include <uORB/topics/vehicle_status.h>
@@ -50,6 +52,7 @@
 #include <systemlib/param/param.h>
 #include <systemlib/err.h>
 #include <drivers/drv_hrt.h>
+#include <drivers/drv_device.h>
 #include <mavlink/mavlink_log.h>
 
 #include "state_machine_helper.h"
@@ -332,6 +335,33 @@ int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_s
 
 				mavlink_log_critical(mavlink_fd, "Switched to ON hil state");
 				valid_transition = true;
+
+				// Disable publication of all attached sensors
+
+				/* list directory */
+				DIR		*d;
+				struct dirent	*direntry;
+				d = opendir("/dev");
+				if (d) {
+
+					while ((direntry = readdir(d)) != NULL) {
+
+						int sensfd = ::open(direntry->d_name, 0);
+						int block_ret = ::ioctl(sensfd, DEVIOCSPUBBLOCK, 0);
+						close(sensfd);
+
+						printf("Disabling %s\n: %s", direntry->d_name, (!block_ret) ? "OK" : "FAIL");
+					}
+
+					closedir(d);
+
+					warnx("directory listing ok (FS mounted and readable)");
+
+				} else {
+					/* failed opening dir */
+					warnx("FAILED LISTING DEVICE ROOT DIRECTORY");
+					return 1;
+				}
 			}
 
 			break;