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SITL: prevent a fd leak in GPS code

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This commit is contained in:
Andrew Tridgell 2012-09-17 14:44:27 +10:00
parent 62f1034965
commit 2bc1d4a5ae
1 changed files with 7 additions and 3 deletions
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10
libraries/Desktop/support/sitl_gps.cpp
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@ -37,7 +37,7 @@ static uint8_t gps_delay;
// state of GPS emulation // state of GPS emulation
static struct { static struct {
/* pipe emulating UBLOX GPS serial stream */ /* pipe emulating UBLOX GPS serial stream */
int gps_fd; int gps_fd, client_fd;
uint32_t last_update; // milliseconds uint32_t last_update; // milliseconds
} gps_state; } gps_state;
@ -55,12 +55,16 @@ ssize_t sitl_gps_read(int fd, void *buf, size_t count)
int sitl_gps_pipe(void) int sitl_gps_pipe(void)
{ {
int fd[2]; int fd[2];
if (gps_state.client_fd != 0) {
return gps_state.client_fd;
}
pipe(fd); pipe(fd);
gps_state.gps_fd = fd[1]; gps_state.gps_fd = fd[1];
gps_state.client_fd = fd[0];
gps_state.last_update = millis(); gps_state.last_update = millis();
set_nonblocking(gps_state.gps_fd); set_nonblocking(gps_state.gps_fd);
set_nonblocking(fd[0]); set_nonblocking(fd[0]);
return fd[0]; return gps_state.client_fd;
} }