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MAVLink: Consolidate message forwarding flag

This commit is contained in:
Lorenz Meier 2015-09-05 10:28:36 +02:00
parent 9f90b87745
commit 329f7c0130
2 changed files with 4 additions and 10 deletions
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13
src/modules/mavlink/mavlink_main.cpp
View File

@ -154,7 +154,6 @@ Mavlink::Mavlink() :
_receive_thread {},
_verbose(false),
_forwarding_on(false),
_passing_on(false),
_ftp_on(false),
#ifndef __PX4_POSIX
_uart_fd(-1),
@ -1322,7 +1321,7 @@ Mavlink::message_buffer_mark_read(int n)
void
Mavlink::pass_message(const mavlink_message_t *msg)
{
if (_passing_on) {
if (_forwarding_on) {
/* size is 8 bytes plus variable payload */
int size = MAVLINK_NUM_NON_PAYLOAD_BYTES + msg->len;
pthread_mutex_lock(&_message_buffer_mutex);
@ -1497,10 +1496,6 @@ Mavlink::task_main(int argc, char *argv[])
_forwarding_on = true;
break;
case 'p':
_passing_on = true;
break;
case 'v':
_verbose = true;
break;
@ -1566,7 +1561,7 @@ Mavlink::task_main(int argc, char *argv[])
mavlink_logbuffer_init(&_logbuffer, 5);
/* if we are passing on mavlink messages, we need to prepare a buffer for this instance */
if (_passing_on || _ftp_on) {
if (_forwarding_on || _ftp_on) {
/* initialize message buffer if multiplexing is on or its needed for FTP.
* make space for two messages plus off-by-one space as we use the empty element
* marker ring buffer approach.
@ -1838,7 +1833,7 @@ Mavlink::task_main(int argc, char *argv[])
}
/* pass messages from other UARTs or FTP worker */
if (_passing_on || _ftp_on) {
if (_forwarding_on || _ftp_on) {
bool is_part;
uint8_t *read_ptr;
@ -1947,7 +1942,7 @@ Mavlink::task_main(int argc, char *argv[])
/* close mavlink logging device */
px4_close(_mavlink_fd);
if (_passing_on || _ftp_on) {
if (_forwarding_on || _ftp_on) {
message_buffer_destroy();
pthread_mutex_destroy(&_message_buffer_mutex);
}

1
src/modules/mavlink/mavlink_main.h
View File

@ -379,7 +379,6 @@ private:
bool _verbose;
bool _forwarding_on;
bool _passing_on;
bool _ftp_on;
#ifndef __PX4_QURT
int _uart_fd;