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uavcan_main: fix init & use of _control_subs

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0 is a valid file descriptor
This commit is contained in:
Beat Küng
2018-07-23 17:37:44 +02:00
committed by Lorenz Meier
parent 442d4410ca
commit 49fe19c20f
2 changed files with 8 additions and 4 deletions
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src/modules/uavcan/uavcan_main.cpp
+7 -3
View File
@@ -97,6 +97,10 @@ UavcanNode::UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &sys
_control_topics[2] = ORB_ID(actuator_controls_2);
_control_topics[3] = ORB_ID(actuator_controls_3);
for (int i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN; ++i) {
_control_subs[i] = -1;
}
int res = pthread_mutex_init(&_node_mutex, nullptr);
if (res < 0) {
@@ -888,7 +892,7 @@ int UavcanNode::run()
bool controls_updated = false;
for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (_control_subs[i] > 0) {
if (_control_subs[i] >= 0) {
if (_poll_fds[_poll_ids[i]].revents & POLLIN) {
controls_updated = true;
orb_copy(_control_topics[i], _control_subs[i], &_controls[i]);
@@ -1037,7 +1041,7 @@ UavcanNode::teardown()
px4_sem_post(&_server_command_sem);
for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (_control_subs[i] > 0) {
if (_control_subs[i] >= 0) {
orb_unsubscribe(_control_subs[i]);
_control_subs[i] = -1;
}
@@ -1074,7 +1078,7 @@ UavcanNode::subscribe()
_control_subs[i] = -1;
}
if (_control_subs[i] > 0) {
if (_control_subs[i] >= 0) {
_poll_ids[i] = add_poll_fd(_control_subs[i]);
}
}
src/modules/uavcan/uavcan_main.hpp
+1 -1
View File
@@ -195,7 +195,7 @@ private:
ITxQueueInjector *_tx_injector;
uint32_t _groups_required = 0;
uint32_t _groups_subscribed = 0;
int _control_subs[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN] = {};
int _control_subs[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN];
actuator_controls_s _controls[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN] = {};
orb_id_t _control_topics[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN] = {};
pollfd _poll_fds[UAVCAN_NUM_POLL_FDS] = {};