fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-02 13:51:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

microRTPS: replace usleep() by px4_usleep()

Browse Source
This commit is contained in:
TSC21
2019-01-02 00:14:18 +00:00
committed by Nuno Marques
parent 37e71a4d9d
commit adbec90018
2 changed files with 5 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
msg/templates/uorb_microcdr/microRTPS_client.cpp.template
+2 -2
View File
@@ -123,7 +123,7 @@ void* send(void* /*unused*/)
} }
@[end for]@ @[end for]@
usleep(_options.sleep_ms*1000); px4_usleep(_options.sleep_ms*1000);
++loop; ++loop;
} }
@@ -212,7 +212,7 @@ void micrortps_start_topics(struct timespec &begin, int &total_read, uint32_t &r
// loop forever if informed loop number is negative // loop forever if informed loop number is negative
if (_options.loops >= 0 && loop >= _options.loops) break; if (_options.loops >= 0 && loop >= _options.loops) break;
usleep(_options.sleep_ms*1000); px4_usleep(_options.sleep_ms*1000);
++loop; ++loop;
} }
@[if send_topics]@ @[if send_topics]@
msg/templates/urtps/microRTPS_transport.cpp
+3 -2
View File
@@ -36,8 +36,9 @@
#include <errno.h> #include <errno.h>
#include <sys/socket.h> #include <sys/socket.h>
#include <cstdlib> #include <cstdlib>
#include <px4_time.h>
#include "microRTPS_transport.h" #include <microRTPS_transport.h>
#define DEFAULT_UART "/dev/ttyACM0" #define DEFAULT_UART "/dev/ttyACM0"
@@ -326,7 +327,7 @@ int UART_node::init()
while (0 < ::read(uart_fd, (void *)&aux, 64)) { while (0 < ::read(uart_fd, (void *)&aux, 64)) {
//printf("%s ", aux); //printf("%s ", aux);
flush = true; flush = true;
usleep(1000); px4_usleep(1000);
} }
if (flush) { if (flush) {