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Mavlink: enable log messages to multiple UARTs

This commit is contained in:
Julian Oes 2014-02-12 18:35:45 +01:00
parent 3462054f73
commit cc5756f61f
2 changed files with 15 additions and 8 deletions
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20
src/modules/mavlink/mavlink_main.cpp
View File

@ -93,9 +93,6 @@ static Mavlink* _head = nullptr;
/* TODO: if this is a class member it crashes */
static struct file_operations fops;
static struct mavlink_logbuffer lb;
static unsigned int total_counter;
/**
* mavlink app start / stop handling function
*
@ -227,11 +224,11 @@ Mavlink* Mavlink::new_instance()
::_head = inst;
/* afterwards follow the next and append the instance */
} else {
while (next != nullptr) {
while (next->_next != nullptr) {
next = next->_next;
}
/* now parent has a null pointer, fill it */
next = inst;
next->_next = inst;
}
return inst;
}
@ -288,8 +285,15 @@ Mavlink::mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg)
// printf("logmsg: %s\n", txt);
struct mavlink_logmessage msg;
strncpy(msg.text, txt, sizeof(msg.text));
mavlink_logbuffer_write(&lb, &msg);
total_counter++;
Mavlink* inst = ::_head;
while (inst != nullptr) {
mavlink_logbuffer_write(&inst->lb, &msg);
inst->total_counter++;
inst = inst->_next;
}
return OK;
}
@ -1451,7 +1455,7 @@ Mavlink::task_main(int argc, char *argv[])
fflush(stdout);
/* initialize mavlink text message buffering */
mavlink_logbuffer_init(&lb, 10);
mavlink_logbuffer_init(&lb, 5);
int ch;
const char *device_name = "/dev/ttyS1";

3
src/modules/mavlink/mavlink_main.h
View File

@ -293,6 +293,9 @@ private:
// XXX probably should be in a header...
// extern pthread_t receive_start(int uart);
struct mavlink_logbuffer lb;
unsigned int total_counter;
pthread_t receive_thread;
pthread_t uorb_receive_thread;