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Fixes and cleanups

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This commit is contained in:
Lorenz Meier
2014-02-02 17:00:16 +01:00
parent 1e6011cc87
commit 8d2d171bb8
1 changed files with 25 additions and 29 deletions
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src/modules/mavlink/mavlink_main.cpp
+25 -29
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@@ -144,7 +144,11 @@ mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length
#endif
}
write(uart, ch, (size_t)(sizeof(uint8_t) * length));
size_t desired = (size_t)(sizeof(uint8_t) * length);
int ret = write(uart, ch, desired);
if (ret != desired)
warn("write err");
}
@@ -1509,11 +1513,11 @@ Mavlink::task_main(int argc, char *argv[])
/* start the MAVLink receiver */
// MavlinkReceiver rcv(this);
receive_thread = MavlinkReceiver::receive_start(this);
//receive_thread = MavlinkReceiver::receive_start(this);
/* start the ORB receiver */
//MavlinkOrbListener listener(this);
uorb_receive_thread = MavlinkOrbListener::uorb_receive_start(this);
//uorb_receive_thread = MavlinkOrbListener::uorb_receive_start(this);
/* initialize waypoint manager */
mavlink_wpm_init(wpm);
@@ -1595,11 +1599,6 @@ Mavlink::task_main(int argc, char *argv[])
/* wait for up to 100ms for data */
int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
/* timed out - periodic check for _task_should_exit, etc. */
if (pret == 0) {
continue;
}
/* this is undesirable but not much we can do - might want to flag unhappy status */
if (pret < 0) {
warn("poll error %d, %d", pret, errno);
@@ -1722,26 +1721,6 @@ int
Mavlink::start()
{
/* start the task */
char buf[32];
sprintf(buf, "mavlink if%d", Mavlink::instance_count());
/*mavlink->_mavlink_task = */task_spawn_cmd(buf,
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT,
2048,
(main_t)&Mavlink::start_helper,
NULL);
// while (!this->is_running()) {
// usleep(200);
// }
// if (mavlink->_mavlink_task < 0) {
// warn("task start failed");
// return -errno;
// }
return OK;
}
@@ -1765,7 +1744,24 @@ int mavlink_main(int argc, char *argv[])
if (!strcmp(argv[1], "start")) {
// Instantiate thread
Mavlink::start();
char buf[32];
sprintf(buf, "mavlink if%d", Mavlink::instance_count());
/*mavlink->_mavlink_task = */task_spawn_cmd(buf,
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT,
2048,
(main_t)&Mavlink::start_helper,
(const char **)argv);
// while (!this->is_running()) {
// usleep(200);
// }
// if (mavlink->_mavlink_task < 0) {
// warn("task start failed");
// return -errno;
// }
// if (mavlink::g_mavlink != nullptr) {
// errx(1, "already running");