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mavlink shell: check if there's enough free buffer to send the mavlink message

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if there is not, the process on the other end of the pipe will just block.
This improves reliability over slow links.
This commit is contained in:
Beat Küng 2017-03-09 10:08:21 +01:00 committed by Lorenz Meier
parent 644d237ce6
commit cfcc75d444
1 changed files with 9 additions and 7 deletions
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16
src/modules/mavlink/mavlink_main.cpp
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@ -2225,13 +2225,15 @@ Mavlink::task_main(int argc, char *argv[])
/* check for shell output */
if (_mavlink_shell && _mavlink_shell->available() > 0) {
mavlink_serial_control_t msg;
msg.baudrate = 0;
msg.flags = SERIAL_CONTROL_FLAG_REPLY;
msg.timeout = 0;
msg.device = SERIAL_CONTROL_DEV_SHELL;
msg.count = _mavlink_shell->read(msg.data, sizeof(msg.data));
mavlink_msg_serial_control_send_struct(get_channel(), &msg);
if (get_free_tx_buf() >= MAVLINK_MSG_ID_SERIAL_CONTROL_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) {
mavlink_serial_control_t msg;
msg.baudrate = 0;
msg.flags = SERIAL_CONTROL_FLAG_REPLY;
msg.timeout = 0;
msg.device = SERIAL_CONTROL_DEV_SHELL;
msg.count = _mavlink_shell->read(msg.data, sizeof(msg.data));
mavlink_msg_serial_control_send_struct(get_channel(), &msg);
}
}
/* check for ulog streaming messages */