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PWM out sim: Fix corner cases in startup and timeout handling

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This commit is contained in:
Lorenz Meier
2015-12-01 10:28:24 +01:00
parent cf17ef4d41
commit 4b319d2fc6
1 changed files with 11 additions and 2 deletions
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src/drivers/pwm_out_sim/pwm_out_sim.cpp
+11 -2
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@@ -187,6 +187,7 @@ PWMSim::PWMSim() :
_update_rate(50),
_current_update_rate(0),
_control_subs { -1},
_poll_fds{},
_poll_fds_num(0),
_armed_sub(-1),
_outputs_pub(0),
@@ -366,7 +367,6 @@ PWMSim::subscribe()
}
if (_control_subs[i] > 0) {
printf("valid\n");
_poll_fds[_poll_fds_num].fd = _control_subs[i];
_poll_fds[_poll_fds_num].events = POLLIN;
_poll_fds_num++;
@@ -417,7 +417,16 @@ PWMSim::task_main()
}
/* sleep waiting for data, but no more than a second */
int ret = px4_poll(&_poll_fds[0], _poll_fds_num, 1000);
int ret = 0;
if (_poll_fds_num == 0) {
usleep(1000 * 1000);
/* this can happen during boot, but after the sleep its likely resolved */
if (_poll_fds_num == 0) {
PX4_WARN("pwm_out_sim: No valid fds");
}
} else {
ret = px4_poll(&_poll_fds[0], _poll_fds_num, 1000);
}
/* this would be bad... */
if (ret < 0) {