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Implement the remaining pieces of mixer upload to PX4IO.

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This commit is contained in:
px4dev
2012-12-30 01:17:19 -08:00
parent c740e9c616
commit fd016abd46
4 changed files with 129 additions and 79 deletions
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apps/px4io/mixer.cpp
+21 -7
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@@ -52,6 +52,7 @@
#include <systemlib/mixer/mixer.h>
extern "C" {
//#define DEBUG
#include "px4io.h"
}
@@ -175,14 +176,17 @@ mixer_callback(uintptr_t handle,
return 0;
}
static char mixer_text[256];
static unsigned mixer_text_length = 0;
void
mixer_handle_text(const void *buffer, size_t length)
{
static char mixer_text[256];
static unsigned mixer_text_length = 0;
px4io_mixdata *msg = (px4io_mixdata *)buffer;
debug("mixer text %u", length);
if (length < sizeof(px4io_mixdata))
return;
@@ -190,11 +194,13 @@ mixer_handle_text(const void *buffer, size_t length)
switch (msg->action) {
case F2I_MIXER_ACTION_RESET:
debug("reset");
mixer_group.reset();
mixer_text_length = 0;
/* FALLTHROUGH */
case F2I_MIXER_ACTION_APPEND:
debug("append %d", length);
/* check for overflow - this is really fatal */
if ((mixer_text_length + text_length + 1) > sizeof(mixer_text))
@@ -204,14 +210,22 @@ mixer_handle_text(const void *buffer, size_t length)
memcpy(&mixer_text[mixer_text_length], msg->text, text_length);
mixer_text_length += text_length;
mixer_text[mixer_text_length] = '\0';
debug("buflen %u", mixer_text_length);
/* process the text buffer, adding new mixers as their descriptions can be parsed */
char *end = &mixer_text[mixer_text_length];
mixer_group.load_from_buf(&mixer_text[0], mixer_text_length);
unsigned resid = mixer_text_length;
mixer_group.load_from_buf(&mixer_text[0], resid);
/* copy any leftover text to the base of the buffer for re-use */
if (mixer_text_length > 0)
memcpy(&mixer_text[0], end - mixer_text_length, mixer_text_length);
/* if anything was parsed */
if (resid != mixer_text_length) {
debug("used %u", mixer_text_length - resid);
/* copy any leftover text to the base of the buffer for re-use */
if (resid > 0)
memcpy(&mixer_text[0], &mixer_text[mixer_text_length - resid], resid);
mixer_text_length = resid;
}
break;
}