From 472b45bc2a4ff7640fda360126f3795af9a59c95 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Tue, 18 Dec 2012 18:12:56 +1100
Subject: [PATCH] SITL: fixed use of local printf() method in UART driver

---
 libraries/AP_HAL_AVR_SITL/SITL_State.cpp | 22 +++++++++++-----------
 libraries/AP_HAL_AVR_SITL/UARTDriver.cpp |  9 +++++----
 2 files changed, 16 insertions(+), 15 deletions(-)

diff --git a/libraries/AP_HAL_AVR_SITL/SITL_State.cpp b/libraries/AP_HAL_AVR_SITL/SITL_State.cpp
index f140373f2c..fc0048e039 100644
--- a/libraries/AP_HAL_AVR_SITL/SITL_State.cpp
+++ b/libraries/AP_HAL_AVR_SITL/SITL_State.cpp
@@ -45,17 +45,17 @@ uint16_t SITL_State::pwm_input[8];
 // catch floating point exceptions
 void SITL_State::_sig_fpe(int signum)
 {
-	printf("ERROR: Floating point exception\n");
+	fprintf(stderr, "ERROR: Floating point exception\n");
 	exit(1);
 }
 
 void SITL_State::_usage(void)
 {
-	printf("Options:\n");
-	printf("\t-w          wipe eeprom and dataflash\n");
-	printf("\t-r RATE     set SITL framerate\n");
-	printf("\t-H HEIGHT   initial barometric height\n");
-	printf("\t-C          use console instead of TCP ports\n");
+	fprintf(stdout, "Options:\n");
+	fprintf(stdout, "\t-w          wipe eeprom and dataflash\n");
+	fprintf(stdout, "\t-r RATE     set SITL framerate\n");
+	fprintf(stdout, "\t-H HEIGHT   initial barometric height\n");
+	fprintf(stdout, "\t-C          use console instead of TCP ports\n");
 }
 
 void SITL_State::_parse_command_line(int argc, char * const argv[])
@@ -85,7 +85,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
 		}
 	}
 
-	printf("Starting sketch '%s'\n", SKETCH);
+	fprintf(stdout, "Starting sketch '%s'\n", SKETCH);
 
 	if (strcmp(SKETCH, "ArduCopter") == 0) {
 		_vehicle = ArduCopter;
@@ -124,7 +124,7 @@ void SITL_State::_sitl_setup(void)
 
 	_setup_timer();
 	_setup_fdm();
-	printf("Starting SITL input\n");
+	fprintf(stdout, "Starting SITL input\n");
 
 	// find the barometer object if it exists
 	_sitl = (SITL *)AP_Param::find_object("SIM_");
@@ -205,7 +205,7 @@ void SITL_State::_timer_handler(int signum)
         
     	count++;
 	if (millis() - last_report > 1000) {
-		printf("TH %u cps\n", count);
+		fprintf(stdout, "TH %u cps\n", count);
 		count = 0;
 		last_report = millis();
 	}
@@ -275,7 +275,7 @@ void SITL_State::_fdm_input(void)
 		static uint32_t count;
 
 		if (d.fg_pkt.magic != 0x4c56414e) {
-			printf("Bad FDM packet - magic=0x%08x\n", d.fg_pkt.magic);
+			fprintf(stdout, "Bad FDM packet - magic=0x%08x\n", d.fg_pkt.magic);
 			return;
 		}
 
@@ -291,7 +291,7 @@ void SITL_State::_fdm_input(void)
 
 		count++;
 		if (hal.scheduler->millis() - last_report > 1000) {
-			//printf("SIM %u FPS\n", count);
+			//fprintf(stdout, "SIM %u FPS\n", count);
 			count = 0;
 			last_report = hal.scheduler->millis();
 		}
diff --git a/libraries/AP_HAL_AVR_SITL/UARTDriver.cpp b/libraries/AP_HAL_AVR_SITL/UARTDriver.cpp
index bf280f8ec2..dc50c403f4 100644
--- a/libraries/AP_HAL_AVR_SITL/UARTDriver.cpp
+++ b/libraries/AP_HAL_AVR_SITL/UARTDriver.cpp
@@ -243,7 +243,7 @@ void SITLUARTDriver::_tcp_start_connection(bool wait_for_connection)
                     (unsigned)ntohs(sockaddr.sin_port),
                     (unsigned)_portNumber),
 
-                ret = bind(_listen_fd, (struct sockaddr *)&sockaddr, sizeof(sockaddr));
+            ret = bind(_listen_fd, (struct sockaddr *)&sockaddr, sizeof(sockaddr));
             if (ret == -1) {
 		fprintf(stderr, "bind failed on port %u - %s\n",
                         (unsigned)ntohs(sockaddr.sin_port),
@@ -257,12 +257,13 @@ void SITLUARTDriver::_tcp_start_connection(bool wait_for_connection)
                 exit(1);
             }
 
-            printf("Serial port %u on TCP port %u\n", _portNumber, LISTEN_BASE_PORT + _portNumber);
+            fprintf(stderr, "Serial port %u on TCP port %u\n", _portNumber, LISTEN_BASE_PORT + _portNumber);
             fflush(stdout);
         }
 
 	if (wait_for_connection) {
-            printf("Waiting for connection ....\n");
+            fprintf(stdout, "Waiting for connection ....\n");
+            fflush(stdout);
             _fd = accept(_listen_fd, NULL, NULL);
             if (_fd == -1) {
                 fprintf(stderr, "accept() error - %s", strerror(errno));
@@ -291,7 +292,7 @@ void SITLUARTDriver::_check_connection(void)
                 _connected = true;
                 setsockopt(_fd, IPPROTO_TCP, TCP_NODELAY, &one, sizeof(one));
                 setsockopt(_fd, SOL_SOCKET, SO_REUSEADDR, &one, sizeof(one));
-                printf("New connection on serial port %u\n", _portNumber);
+                fprintf(stdout, "New connection on serial port %u\n", _portNumber);
                 _set_nonblocking(_fd);
             }
 	}