fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-26 13:23:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

posix shell: allow to run multiple instances

Browse Source
This commit is contained in:
Beat Küng
2018-08-08 21:09:39 +02:00
committed by Lorenz Meier
parent c0cac0594e
commit d05b268d19
11 changed files with 85 additions and 40 deletions
Download Patch File Download Diff File Expand all files Collapse all files
platforms/posix/src/px4_daemon/server.cpp
+8 -5
View File
@@ -57,7 +57,8 @@ namespace px4_daemon
Server *Server::_instance = nullptr;
Server::Server()
Server::Server(int instance_id)
: _instance_id(instance_id)
{
_instance = this;
}
@@ -109,12 +110,14 @@ Server::_server_main(void *arg)
return;
}
std::string client_send_pipe_path = get_client_send_pipe_path(_instance_id);
// Delete pipe in case it exists already.
unlink(CLIENT_SEND_PIPE_PATH);
unlink(client_send_pipe_path.c_str());
// Create new pipe to listen to clients.
mkfifo(CLIENT_SEND_PIPE_PATH, 0666);
int client_send_pipe_fd = open(CLIENT_SEND_PIPE_PATH, O_RDONLY);
mkfifo(client_send_pipe_path.c_str(), 0666);
int client_send_pipe_fd = open(client_send_pipe_path.c_str(), O_RDONLY);
while (true) {
@@ -129,7 +132,7 @@ Server::_server_main(void *arg)
// 0 means the pipe has been closed by all clients
// and we need to re-open it.
close(client_send_pipe_fd);
client_send_pipe_fd = open(CLIENT_SEND_PIPE_PATH, O_RDONLY);
client_send_pipe_fd = open(client_send_pipe_path.c_str(), O_RDONLY);
}
}