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Mavlink: Start multiple uart listeners, HIL working

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This commit is contained in:
Julian Oes
2014-02-14 13:36:59 +01:00
parent ef46cd5e90
commit 523637e0f1
6 changed files with 68 additions and 82 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+9 -7
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@@ -798,7 +798,10 @@ MavlinkReceiver::receive_thread(void *arg)
mavlink_message_t msg;
prctl(PR_SET_NAME, "mavlink_uart_rcv", getpid());
/* Set thread name */
char thread_name[18];
sprintf(thread_name, "mavlink_uart_rcv_%d", _mavlink->get_channel());
prctl(PR_SET_NAME, thread_name, getpid());
struct pollfd fds[1];
fds[0].fd = uart_fd;
@@ -842,20 +845,19 @@ void MavlinkReceiver::print_status()
void * MavlinkReceiver::start_helper(void *context)
{
MavlinkReceiver *rcv = new MavlinkReceiver(((Mavlink *)context));
MavlinkReceiver *rcv = new MavlinkReceiver((Mavlink*)context);
return rcv->receive_thread(NULL);
}
pthread_t
MavlinkReceiver::receive_start(Mavlink *mavlink)
MavlinkReceiver::receive_start(Mavlink *parent)
{
pthread_attr_t receiveloop_attr;
pthread_attr_init(&receiveloop_attr);
// set to non-blocking read
int flags = fcntl(mavlink->get_uart_fd(), F_GETFL, 0);
fcntl(mavlink->get_uart_fd(), F_SETFL, flags | O_NONBLOCK);
int flags = fcntl(parent->get_uart_fd(), F_GETFL, 0);
fcntl(parent->get_uart_fd(), F_SETFL, flags | O_NONBLOCK);
struct sched_param param;
(void)pthread_attr_getschedparam(&receiveloop_attr, &param);
@@ -865,7 +867,7 @@ MavlinkReceiver::receive_start(Mavlink *mavlink)
pthread_attr_setstacksize(&receiveloop_attr, 3000);
pthread_t thread;
pthread_create(&thread, &receiveloop_attr, MavlinkReceiver::start_helper, mavlink);
pthread_create(&thread, &receiveloop_attr, MavlinkReceiver::start_helper, (void*)parent);
pthread_attr_destroy(&receiveloop_attr);
return thread;