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Merge pull request #738 from PX4/beta_mavlink2_stream 

mavlink stream: do not use getopt as it leads to problems with the global optarg variable
This commit is contained in:
Lorenz Meier 2014-03-14 18:10:27 +01:00
parent e3b80d6e9d 6b79f53338
commit 3d766575cd
1 changed files with 17 additions and 20 deletions
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37
src/modules/mavlink/mavlink_main.cpp
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@ -1606,7 +1606,7 @@ Mavlink::configure_stream_threadsafe(const char *stream_name, const float rate)
/* copy stream name */
unsigned n = strlen(stream_name) + 1;
char *s = new char[n];
memcpy(s, stream_name, n);
strcpy(s, stream_name);
/* set subscription task */
_subscribe_to_stream_rate = rate;
@ -2019,36 +2019,33 @@ Mavlink::stream(int argc, char *argv[])
const char *stream_name = nullptr;
int ch;
argc -= 1;
argv += 1;
argc -= 2;
argv += 2;
/* don't exit from getopt loop to leave getopt global variables in consistent state,
* set error flag instead */
bool err_flag = false;
while ((ch = getopt(argc, argv, "r:d:s:")) != EOF) {
switch (ch) {
case 'r':
rate = strtod(optarg, nullptr);
int i = 0;
while (i < argc) {
if (0 == strcmp(argv[i], "-r") && i < argc - 1 ) {
rate = strtod(argv[i+1], nullptr);
if (rate < 0.0f) {
err_flag = true;
}
break;
case 'd':
device_name = optarg;
break;
case 's':
stream_name = optarg;
break;
default:
i++;
} else if (0 == strcmp(argv[i], "-d") && i < argc - 1 ) {
device_name = argv[i+1];
i++;
} else if (0 == strcmp(argv[i], "-s") && i < argc - 1 ) {
stream_name = argv[i+1];
i++;
} else {
err_flag = true;
break;
}
i++;
}
if (!err_flag && rate >= 0.0 && stream_name != nullptr) {