forked from Archive/PX4-Autopilot
Merge pull request #2017 from UAVenture/sf02_fix
Store the port so the in use port will be referenced when reopening.
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commit
3c36a61569
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@ -114,6 +114,7 @@ protected:
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virtual int probe();
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private:
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char _port[20];
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float _min_distance;
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float _max_distance;
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work_s _work;
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@ -199,8 +200,13 @@ SF0X::SF0X(const char *port) :
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_comms_errors(perf_alloc(PC_COUNT, "sf0x_comms_errors")),
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_buffer_overflows(perf_alloc(PC_COUNT, "sf0x_buffer_overflows"))
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{
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/* store port name */
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strncpy(_port, port, sizeof(_port));
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/* enforce null termination */
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_port[sizeof(_port) - 1] = '\0';
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/* open fd */
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_fd = ::open(port, O_RDWR | O_NOCTTY | O_NONBLOCK);
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_fd = ::open(_port, O_RDWR | O_NOCTTY | O_NONBLOCK);
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if (_fd < 0) {
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warnx("FAIL: laser fd");
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@ -633,7 +639,7 @@ SF0X::cycle()
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/* fds initialized? */
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if (_fd < 0) {
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/* open fd */
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_fd = ::open(SF0X_DEFAULT_PORT, O_RDWR | O_NOCTTY | O_NONBLOCK);
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_fd = ::open(_port, O_RDWR | O_NOCTTY | O_NONBLOCK);
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}
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/* collection phase? */
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