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AP_SerialManager: ensure registered ports are in sorted order 

this avoids ordering issues if using both CAN and network serial ports
This commit is contained in:
Andrew Tridgell 2023-11-22 11:33:33 +11:00
parent 0ae5c9116c
commit e63a2250ca
2 changed files with 19 additions and 2 deletions
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20
libraries/AP_SerialManager/AP_SerialManager.cpp
View File

@ -850,8 +850,24 @@ void AP_SerialManager::set_protocol_and_baud(uint8_t sernum, enum SerialProtocol
*/
void AP_SerialManager::register_port(RegisteredPort *port)
{
port->next = registered_ports;
registered_ports = port;
const auto idx = port->state.idx;
WITH_SEMAPHORE(port_sem);
/*
maintain the list in ID order
*/
if (registered_ports == nullptr ||
registered_ports->state.idx >= idx) {
port->next = registered_ports;
registered_ports = port;
return;
}
for (auto p = registered_ports; p; p = p->next) {
if (p->next == nullptr || p->next->state.idx >= idx) {
port->next = p->next;
p->next = port;
break;
}
}
}
#endif // AP_SERIALMANAGER_REGISTER_ENABLED

1
libraries/AP_SerialManager/AP_SerialManager.h
View File

@ -172,6 +172,7 @@ public:
UARTState state;
};
RegisteredPort *registered_ports;
HAL_Semaphore port_sem;
// register an externally managed port
void register_port(RegisteredPort *port);