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activate sending thread only once got message from simulator

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tumbili
2015-06-02 17:39:11 +02:00
committed by Mark Charlebois
parent 3d44384731
commit 45ee36234d
1 changed files with 7 additions and 9 deletions
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src/modules/simulator/simulator_mavlink.cpp
+7 -9
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@@ -280,10 +280,8 @@ void Simulator::send() {
_heartbeat_last = 0;
_attitude_last = 0;
_manual_last = 0;
int pret = -1;
while(pret <= 0) {
pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 1000);
}
int pret;
while(true) {
// wait for up to 100ms for data
@@ -368,8 +366,6 @@ void Simulator::updateSamples()
/* low priority */
param.sched_priority = SCHED_PRIORITY_DEFAULT;
(void)pthread_attr_setschedparam(&sender_thread_attr, &param);
pthread_create(&sender_thread, &sender_thread_attr, Simulator::sending_trampoline, NULL);
pthread_attr_destroy(&sender_thread_attr);
// setup serial connection to autopilot (used to get manual controls)
int serial_fd = open(PIXHAWK_DEVICE, O_RDWR);
@@ -396,8 +392,7 @@ void Simulator::updateSamples()
int len = 0;
// wait for first data from simulator and respond with first controls
// this is important for the UDP communication to work
// wait for first data from simulator
int pret = -1;
while (pret <= 0) {
pret = ::poll(&fds[0], (sizeof(fds[0])/sizeof(fds[0])), 100);
@@ -405,9 +400,12 @@ void Simulator::updateSamples()
if (fds[0].revents & POLLIN) {
len = recvfrom(_fd, _buf, sizeof(_buf), 0, (struct sockaddr *)&_srcaddr, &_addrlen);
send_data();
}
// got data from simulator, now activate the sending thread
pthread_create(&sender_thread, &sender_thread_attr, Simulator::sending_trampoline, NULL);
pthread_attr_destroy(&sender_thread_attr);
// wait for new mavlink messages to arrive
while (true) {