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Finished adding a '-w' option.

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This commit is contained in:
Helen Oleynikova
2014-04-10 10:26:15 +02:00
committed by Julian Oes
parent 32c57294d8
commit e09aed917d
3 changed files with 40 additions and 13 deletions
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src/modules/mavlink/mavlink_main.cpp
+24 -13
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@@ -167,12 +167,12 @@ mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length
int buf_free = 0;
if (instance->get_flow_control_enabled()
&& ioctl(uart, FIONWRITE, (unsigned long)&buf_free) == 0) {
&& ioctl(uart, FIONWRITE, (unsigned long)&buf_free) == 0) {
if (buf_free == 0) {
if (last_write_times[(unsigned)channel] != 0 &&
hrt_elapsed_time(&last_write_times[(unsigned)channel]) > 500 * 1000UL) {
hrt_elapsed_time(&last_write_times[(unsigned)channel]) > 500 * 1000UL) {
warnx("DISABLING HARDWARE FLOW CONTROL");
instance->enable_flow_control(false);
@@ -186,12 +186,17 @@ mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length
}
}
ssize_t ret = write(uart, ch, desired);
if (ret != desired) {
// XXX do something here, but change to using FIONWRITE and OS buf size for detection
/* If the wait until transmit flag is on, only transmit after we've received messages.
Otherwise, transmit all the time. */
if (instance->should_transmit()) {
ssize_t ret = write(uart, ch, desired);
if (ret != desired) {
// XXX do something here, but change to using FIONWRITE and OS buf size for detection
}
}
}
static void usage(void);
@@ -204,6 +209,8 @@ Mavlink::Mavlink() :
_task_running(false),
_hil_enabled(false),
_is_usb_uart(false),
_wait_to_transmit(false),
_received_messages(false),
_main_loop_delay(1000),
_subscriptions(nullptr),
_streams(nullptr),
@@ -1776,7 +1783,7 @@ Mavlink::task_main(int argc, char *argv[])
* set error flag instead */
bool err_flag = false;
while ((ch = getopt(argc, argv, "b:r:d:m:fpv")) != EOF) {
while ((ch = getopt(argc, argv, "b:r:d:m:fpvw")) != EOF) {
switch (ch) {
case 'b':
_baudrate = strtoul(optarg, NULL, 10);
@@ -1828,6 +1835,10 @@ Mavlink::task_main(int argc, char *argv[])
_verbose = true;
break;
case 'w':
_wait_to_transmit = true;
break;
default:
err_flag = true;
break;
@@ -2172,11 +2183,11 @@ Mavlink::start(int argc, char *argv[])
// task - start_helper() only returns
// when the started task exits.
task_spawn_cmd(buf,
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT,
2048,
(main_t)&Mavlink::start_helper,
(const char **)argv);
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT,
2048,
(main_t)&Mavlink::start_helper,
(const char **)argv);
// Ensure that this shell command
// does not return before the instance
@@ -2272,7 +2283,7 @@ Mavlink::stream(int argc, char *argv[])
static void usage()
{
warnx("usage: mavlink {start|stop-all|stream} [-d device] [-b baudrate] [-r rate] [-m mode] [-s stream] [-f] [-p] [-v]");
warnx("usage: mavlink {start|stop-all|stream} [-d device] [-b baudrate] [-r rate] [-m mode] [-s stream] [-f] [-p] [-v] [-w]");
}
int mavlink_main(int argc, char *argv[])