fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-04 14:51:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Not building yet, things are coming together slowly on mavlink app

Browse Source
This commit is contained in:
Lorenz Meier
2014-01-28 19:30:23 +01:00
parent e28910127d
commit 1e3d2acbf6
6 changed files with 421 additions and 316 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mavlink/mavlink_receiver.cpp
+17 -9
View File
@@ -83,7 +83,8 @@ __BEGIN_DECLS
__END_DECLS
void MavlinkReceiver::MavlinkReceiver() :
MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
_mavlink(parent),
pub_hil_global_pos(-1),
pub_hil_local_pos(-1),
pub_hil_attitude(-1),
@@ -790,7 +791,7 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
void *
MavlinkReceiver::receive_thread(void *arg)
{
int uart_fd = *((int *)arg);
int uart_fd = _mavlink->get_uart_fd();
const int timeout = 1000;
uint8_t buf[32];
@@ -822,10 +823,10 @@ MavlinkReceiver::receive_thread(void *arg)
handle_message(&msg);
/* handle packet with waypoint component */
mavlink_wpm_message_handler(&msg);
_mavlink->mavlink_wpm_message_handler(&msg);
/* handle packet with parameter component */
mavlink_pm_message_handler(MAVLINK_COMM_0, &msg);
_mavlink->mavlink_pm_message_handler(MAVLINK_COMM_0, &msg);
}
}
}
@@ -839,15 +840,22 @@ void MavlinkReceiver::print_status()
}
pthread_t
MavlinkReceiver::receive_start(int uart)
void * MavlinkReceiver::start_helper(void *context)
{
return ((MavlinkReceiver *)context)->receive_thread(NULL);
}
pthread_t
MavlinkReceiver::receive_start(Mavlink *mavlink)
{
MavlinkReceiver *rcv = new MavlinkReceiver(mavlink);
pthread_attr_t receiveloop_attr;
pthread_attr_init(&receiveloop_attr);
// set to non-blocking read
int flags = fcntl(uart, F_GETFL, 0);
fcntl(uart, F_SETFL, flags | O_NONBLOCK);
int flags = fcntl(mavlink->get_uart_fd(), F_GETFL, 0);
fcntl(mavlink->get_uart_fd(), F_SETFL, flags | O_NONBLOCK);
struct sched_param param;
(void)pthread_attr_getschedparam(&receiveloop_attr, &param);
@@ -857,7 +865,7 @@ MavlinkReceiver::receive_start(int uart)
pthread_attr_setstacksize(&receiveloop_attr, 3000);
pthread_t thread;
pthread_create(&thread, &receiveloop_attr, receive_thread, &uart);
pthread_create(&thread, &receiveloop_attr, MavlinkReceiver::start_helper, rcv);
pthread_attr_destroy(&receiveloop_attr);
return thread;