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camera trigger : fix handling of fds in hrt callbacks

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This commit is contained in:
Mohammed Kabir
2015-05-21 17:23:19 +05:30
parent 2dde99f0fc
commit 5ff38089e9
1 changed files with 16 additions and 6 deletions
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src/modules/camera_trigger/camera_trigger.cpp
+16 -6
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@@ -215,8 +215,9 @@ CameraTrigger::start()
warnx(" invalid trigger polarity setting. stopping.");
stop();
}
hrt_call_every(&_pollcall, 0, 1000, (hrt_callout)&CameraTrigger::poll, this);
close(_gpio_fd);
poll(this); /* Trampoline call */
}
@@ -234,7 +235,7 @@ CameraTrigger::poll(void *arg)
{
CameraTrigger *trig = reinterpret_cast<CameraTrigger *>(arg);
bool updated;
orb_check(trig->_vcommand_sub, &updated);
@@ -269,6 +270,7 @@ CameraTrigger::poll(void *arg)
}
if(!trig->_trigger_enabled) {
hrt_call_after(&trig->_pollcall, 1000, (hrt_callout)&CameraTrigger::poll, trig);
return;
}
@@ -289,7 +291,7 @@ CameraTrigger::poll(void *arg)
} else {
trig->_trigger_pub = orb_advertise(ORB_ID(camera_trigger), &trig->_trigger);
}
hrt_call_after(&trig->_pollcall, (trig->_transfer_time + trig->_integration_time)*1000, (hrt_callout)&CameraTrigger::poll, trig);
}
}
@@ -299,7 +301,9 @@ CameraTrigger::engage(void *arg)
{
CameraTrigger *trig = reinterpret_cast<CameraTrigger *>(arg);
trig->_gpio_fd = open(PX4FMU_DEVICE_PATH, 0);
if(trig->_polarity == 0) /* ACTIVE_LOW */
{
ioctl(trig->_gpio_fd, GPIO_CLEAR, trig->pin);
@@ -308,6 +312,8 @@ CameraTrigger::engage(void *arg)
{
ioctl(trig->_gpio_fd, GPIO_SET, trig->pin);
}
close(trig->_gpio_fd);
}
@@ -316,7 +322,9 @@ CameraTrigger::disengage(void *arg)
{
CameraTrigger *trig = reinterpret_cast<CameraTrigger *>(arg);
trig->_gpio_fd = open(PX4FMU_DEVICE_PATH, 0);
if(trig->_polarity == 0) /* ACTIVE_LOW */
{
ioctl(trig->_gpio_fd, GPIO_SET, trig->pin);
@@ -326,6 +334,8 @@ CameraTrigger::disengage(void *arg)
ioctl(trig->_gpio_fd, GPIO_CLEAR, trig->pin);
}
close(trig->_gpio_fd);
}
void