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AP_HAL_Linux: made UARTDriver use ConsoleDevice

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Staroselskii Georgii 2015-06-12 02:20:22 +03:00 committed by Andrew Tridgell
parent a9c9d91f09
commit de6b2b4bce
1 changed files with 9 additions and 10 deletions
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19
libraries/AP_HAL_Linux/UARTDriver.cpp
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@ -26,6 +26,7 @@
#include "UARTDevice.h" #include "UARTDevice.h"
#include "UDPDevice.h" #include "UDPDevice.h"
#include "ConsoleDevice.h"
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
@ -39,8 +40,8 @@ LinuxUARTDriver::LinuxUARTDriver(bool default_console) :
_flow_control(FLOW_CONTROL_DISABLE) _flow_control(FLOW_CONTROL_DISABLE)
{ {
if (default_console) { if (default_console) {
_rd_fd = 0; _device = new ConsoleDevice();
_wr_fd = 1; _device->open();
_console = true; _console = true;
} }
} }
@ -64,10 +65,9 @@ void LinuxUARTDriver::begin(uint32_t b)
void LinuxUARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS) void LinuxUARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
{ {
if (device_path == NULL && _console) { if (device_path == NULL && _console) {
_rd_fd = STDIN_FILENO; _device = new ConsoleDevice();
_wr_fd = STDOUT_FILENO; _device->open();
fcntl(_rd_fd, F_SETFL, fcntl(_rd_fd, F_GETFL, 0) | O_NONBLOCK); _device->set_blocking(false);
fcntl(_wr_fd, F_SETFL, fcntl(_wr_fd, F_GETFL, 0) | O_NONBLOCK);
} else if (!_initialised) { } else if (!_initialised) {
if (device_path == NULL) { if (device_path == NULL) {
return; return;
@ -114,10 +114,9 @@ void LinuxUARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
// Notify that the option is not valid and select standart input and output // Notify that the option is not valid and select standart input and output
::printf("LinuxUARTDriver parsing failed, using default\n"); ::printf("LinuxUARTDriver parsing failed, using default\n");
_rd_fd = STDIN_FILENO; _device = new ConsoleDevice();
_wr_fd = STDOUT_FILENO; _device->open();
fcntl(_rd_fd, F_SETFL, fcntl(_rd_fd, F_GETFL, 0) | O_NONBLOCK); _device->set_blocking(false);
fcntl(_wr_fd, F_SETFL, fcntl(_wr_fd, F_GETFL, 0) | O_NONBLOCK);
break; break;
} }
} }