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uORBDevices_posix: copied over fixes from uORBDevices_nuttx

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Ban Siesta 2015-06-13 15:24:06 +01:00 committed by Lorenz Meier
parent 21d9bd70a3
commit 3489c3de1c
2 changed files with 33 additions and 0 deletions
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25
src/modules/uORB/uORBDevices_posix.cpp
View File

@ -68,6 +68,7 @@ uORB::DeviceNode::DeviceNode(const struct orb_metadata *meta, const char *name,
_generation(0),
_publisher(0),
_priority(priority),
_published(false),
_subscriber_count(0)
{
// enable debug() calls
@ -264,6 +265,8 @@ uORB::DeviceNode::write(device::file_t *filp, const char *buffer, size_t buflen)
/* notify any poll waiters */
poll_notify(POLLIN);
_published = true;
return _meta->o_size;
}
@ -500,6 +503,14 @@ void uORB::DeviceNode::remove_internal_subscriber()
}
}
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
bool uORB::DeviceNode::is_published()
{
return _published;
}
//-----------------------------------------------------------------------------
//-----------------------------------------------------------------------------
int16_t uORB::DeviceNode::process_add_subscription(int32_t rateInHz)
@ -640,6 +651,20 @@ uORB::DeviceMaster::ioctl(device::file_t *filp, int cmd, unsigned long arg)
/* if init failed, discard the node and its name */
if (ret != PX4_OK) {
delete node;
if (ret == -EEXIST) {
/* if the node exists already, get the existing one and check if
* something has been published yet. */
uORB::DeviceNode *existing_node = GetDeviceNode(devpath);
if ((existing_node != nullptr) && !(existing_node->is_published())) {
/* nothing has been published yet, lets claim it */
ret = PX4_OK;
} else {
/* otherwise: data has already been published, keep looking */
}
}
/* also discard the name now */
free((void *)objname);
free((void *)devpath);

8
src/modules/uORB/uORBDevices_posix.hpp
View File

@ -96,6 +96,13 @@ public:
*/
void remove_internal_subscriber();
/**
* Return true if this topic has been published.
*
* This is used in the case of multi_pub/sub to check if it's valid to advertise
* and publish to this node or if another node should be tried. */
bool is_published();
protected:
virtual pollevent_t poll_state(device::file_t *filp);
virtual void poll_notify_one(px4_pollfd_struct_t *fds, pollevent_t events);
@ -116,6 +123,7 @@ private:
volatile unsigned _generation; /**< object generation count */
unsigned long _publisher; /**< if nonzero, current publisher */
const int _priority; /**< priority of topic */
bool _published; /**< has ever data been published */
SubscriberData *filp_to_sd(device::file_t *filp);