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Move serial port listener to new thread context

This commit is contained in:
Lorenz Meier 2014-02-02 01:32:53 +01:00
parent a5e02db6d5
commit b1e5304a3f
1 changed files with 3 additions and 3 deletions
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6
src/modules/mavlink/mavlink_receiver.cpp
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@ -843,13 +843,13 @@ void MavlinkReceiver::print_status()
void * MavlinkReceiver::start_helper(void *context)
{
return ((MavlinkReceiver *)context)->receive_thread(NULL);
MavlinkReceiver *rcv = new MavlinkReceiver(((Mavlink *)context));
return rcv->receive_thread(NULL);
}
pthread_t
MavlinkReceiver::receive_start(Mavlink *mavlink)
{
MavlinkReceiver *rcv = new MavlinkReceiver(mavlink);
pthread_attr_t receiveloop_attr;
pthread_attr_init(&receiveloop_attr);
@ -866,7 +866,7 @@ MavlinkReceiver::receive_start(Mavlink *mavlink)
pthread_attr_setstacksize(&receiveloop_attr, 3000);
pthread_t thread;
pthread_create(&thread, &receiveloop_attr, MavlinkReceiver::start_helper, rcv);
pthread_create(&thread, &receiveloop_attr, MavlinkReceiver::start_helper, mavlink);
pthread_attr_destroy(&receiveloop_attr);
return thread;