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Move orb listener to new thread context

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Lorenz Meier
2014-02-02 01:32:36 +01:00
parent c73fbca0eb
commit a5e02db6d5
1 changed files with 3 additions and 3 deletions
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src/modules/mavlink/mavlink_orb_listener.cpp
+3 -3
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@@ -726,13 +726,13 @@ MavlinkOrbListener::uorb_receive_thread(void *arg)
void * MavlinkOrbListener::uorb_start_helper(void *context) void * MavlinkOrbListener::uorb_start_helper(void *context)
{ {
return ((MavlinkOrbListener *)context)->uorb_receive_thread(NULL); MavlinkOrbListener* urcv = new MavlinkOrbListener(((Mavlink *)context));
return urcv->uorb_receive_thread(NULL);
} }
pthread_t pthread_t
MavlinkOrbListener::uorb_receive_start(Mavlink* mavlink) MavlinkOrbListener::uorb_receive_start(Mavlink* mavlink)
{ {
MavlinkOrbListener* urcv = new MavlinkOrbListener(mavlink);
/* --- SENSORS RAW VALUE --- */ /* --- SENSORS RAW VALUE --- */
mavlink->get_subs()->sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); mavlink->get_subs()->sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
@@ -840,7 +840,7 @@ MavlinkOrbListener::uorb_receive_start(Mavlink* mavlink)
pthread_attr_setstacksize(&uorb_attr, 2048); pthread_attr_setstacksize(&uorb_attr, 2048);
pthread_t thread; pthread_t thread;
pthread_create(&thread, &uorb_attr, MavlinkOrbListener::uorb_start_helper, urcv); pthread_create(&thread, &uorb_attr, MavlinkOrbListener::uorb_start_helper, mavlink);
pthread_attr_destroy(&uorb_attr); pthread_attr_destroy(&uorb_attr);
return thread; return thread;