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Mavlink: don't allow multiple instances on the same device

This commit is contained in:
Julian Oes 2014-02-12 19:13:57 +01:00
parent cc5756f61f
commit 61a849bf6b
2 changed files with 22 additions and 1 deletions
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19
src/modules/mavlink/mavlink_main.cpp
View File

@ -155,6 +155,7 @@ namespace mavlink
}
Mavlink::Mavlink() :
device_name("/dev/ttyS1"),
_mavlink_fd(-1),
_next(nullptr),
_task_should_exit(false),
@ -249,6 +250,19 @@ Mavlink* Mavlink::get_instance(unsigned instance)
return inst;
}
bool Mavlink::instance_exists(const char *device_name, Mavlink *self)
{
Mavlink* inst = ::_head;
while (inst != nullptr) {
/* don't compare with itself */
if (inst != self && !strcmp(device_name, inst->device_name))
return true;
inst = inst->_next;
}
return false;
}
int Mavlink::get_uart_fd(unsigned index)
{
Mavlink* inst = get_instance(index);
@ -1458,7 +1472,6 @@ Mavlink::task_main(int argc, char *argv[])
mavlink_logbuffer_init(&lb, 5);
int ch;
const char *device_name = "/dev/ttyS1";
_baudrate = 57600;
_chan = MAVLINK_COMM_0;
@ -1496,6 +1509,10 @@ Mavlink::task_main(int argc, char *argv[])
}
}
if (Mavlink::instance_exists(device_name, this)) {
errx(1, "mavlink instance for %s already running", device_name);
}
struct termios uart_config_original;
bool usb_uart;

4
src/modules/mavlink/mavlink_main.h
View File

@ -168,10 +168,14 @@ public:
static Mavlink* get_instance(unsigned instance);
static bool instance_exists(const char *device_name, Mavlink *self);
static int get_uart_fd(unsigned index);
int get_uart_fd() { return _uart; }
const char *device_name;
enum MAVLINK_MODE {
MODE_TX_HEARTBEAT_ONLY=0,
MODE_OFFBOARD,