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Let's use poll. It's more friendlier.

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px4dev 2012-11-02 00:15:41 -07:00
parent ea539031da
commit ad7db28929
1 changed files with 14 additions and 4 deletions
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18
apps/px4io/comms.c
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@ -45,6 +45,7 @@
#include <stdlib.h>
#include <errno.h>
#include <string.h>
#include <poll.h>
#include <nuttx/clock.h>
@ -81,7 +82,6 @@ comms_check(void)
{
static hrt_abstime last_report_time;
hrt_abstime now, delta;
uint8_t c;
/* should we send a report to the FMU? */
now = hrt_absolute_time();
@ -102,9 +102,19 @@ comms_check(void)
hx_stream_send(stream, &report, sizeof(report));
}
/* feed any received bytes to the HDLC receive engine */
while (read(fmu_fd, &c, 1) == 1)
hx_stream_rx(stream, c);
/*
* Check for bytes and feed them to the RX engine.
* Limit the number of bytes we actually process on any one iteration.
*/
struct pollfd fds[1];
fds[0].fd = fmu_fd;
fds[0].revents = POLLIN;
if (poll(fds, 1, 0) > 0) {
char buf[8];
ssize_t count = read(fmu_fd, buf, sizeof(buf));
for (int i = 0; i < count; i++)
hx_stream_rx(stream, buf[i]);
}
}
static void