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mavlink: consolidated nuttx and posix changes 

Removed nuttx and posix specific files for mavlink_ftp and mavlink_receiver.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
sbg
Mark Charlebois 10 years ago
parent
d63d2f7a61
commit
e764c68d0a
6 changed files with 19 additions and 2458 deletions
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  1. 7
      src/modules/mavlink/mavlink_ftp.cpp
  2. 853
      src/modules/mavlink/mavlink_ftp_nuttx.cpp
  3. 9
      src/modules/mavlink/mavlink_receiver.cpp
  4. 1590
      src/modules/mavlink/mavlink_receiver_nuttx.cpp
  5. 6
      src/modules/mavlink/mavlink_tests/module.mk
  6. 12
      src/modules/mavlink/module.mk

7
src/modules/mavlink/mavlink_ftp_posix.cpp → src/modules/mavlink/mavlink_ftp.cpp
Unescape View File

@ -820,7 +820,12 @@ MavlinkFTP::_copy_file(const char *src_path, const char *dst_path, size_t length
return -1; return -1;
} }
dst_fd = ::open(dst_path, O_CREAT | O_TRUNC | O_WRONLY, 0x0777); dst_fd = ::open(dst_path, O_CREAT | O_TRUNC | O_WRONLY
// POSIX requires the permissions to be supplied if O_CREAT passed
#ifdef __PX4_POSIX
, 0x0777
#endif
);
if (dst_fd < 0) { if (dst_fd < 0) {
op_errno = errno; op_errno = errno;
::close(src_fd); ::close(src_fd);

853
src/modules/mavlink/mavlink_ftp_nuttx.cpp
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@ -1,853 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/// @file mavlink_ftp.cpp
/// @author px4dev, Don Gagne <don@thegagnes.com>
#include <crc32.h>
#include <unistd.h>
#include <stdio.h>
#include <fcntl.h>
#include <sys/stat.h>
#include <errno.h>
#include "mavlink_ftp.h"
#include "mavlink_tests/mavlink_ftp_test.h"
// Uncomment the line below to get better debug output. Never commit with this left on.
//#define MAVLINK_FTP_DEBUG
MavlinkFTP *
MavlinkFTP::get_server(void)
{
static MavlinkFTP server;
return &server;
}
MavlinkFTP::MavlinkFTP() :
_request_bufs{},
_request_queue{},
_request_queue_sem{},
_utRcvMsgFunc{},
_ftp_test{}
{
// initialise the request freelist
dq_init(&_request_queue);
sem_init(&_request_queue_sem, 0, 1);
// initialize session list
for (size_t i=0; i<kMaxSession; i++) {
_session_fds[i] = -1;
}
// drop work entries onto the free list
for (unsigned i = 0; i < kRequestQueueSize; i++) {
_return_request(&_request_bufs[i]);
}
}
#ifdef MAVLINK_FTP_UNIT_TEST
void
MavlinkFTP::set_unittest_worker(ReceiveMessageFunc_t rcvMsgFunc, MavlinkFtpTest *ftp_test)
{
_utRcvMsgFunc = rcvMsgFunc;
_ftp_test = ftp_test;
}
#endif
void
MavlinkFTP::handle_message(Mavlink* mavlink, mavlink_message_t *msg)
{
// get a free request
struct Request* req = _get_request();
// if we couldn't get a request slot, just drop it
if (req == nullptr) {
warnx("Dropping FTP request: queue full\n");
return;
}
if (msg->msgid == MAVLINK_MSG_ID_FILE_TRANSFER_PROTOCOL) {
mavlink_msg_file_transfer_protocol_decode(msg, &req->message);
#ifdef MAVLINK_FTP_UNIT_TEST
if (!_utRcvMsgFunc) {
warnx("Incorrectly written unit test\n");
return;
}
// We use fake ids when unit testing
req->serverSystemId = MavlinkFtpTest::serverSystemId;
req->serverComponentId = MavlinkFtpTest::serverComponentId;
req->serverChannel = MavlinkFtpTest::serverChannel;
#else
// Not unit testing, use the real thing
req->serverSystemId = mavlink->get_system_id();
req->serverComponentId = mavlink->get_component_id();
req->serverChannel = mavlink->get_channel();
#endif
// This is the system id we want to target when sending
req->targetSystemId = msg->sysid;
if (req->message.target_system == req->serverSystemId) {
req->mavlink = mavlink;
#ifdef MAVLINK_FTP_UNIT_TEST
// We are running in Unit Test mode. Don't queue, just call _worket directly.
_process_request(req);
#else
// We are running in normal mode. Queue the request to the worker
work_queue(LPWORK, &req->work, &MavlinkFTP::_worker_trampoline, req, 0);
#endif
return;
}
}
_return_request(req);
}
/// @brief Queued static work queue routine to handle mavlink messages
void
MavlinkFTP::_worker_trampoline(void *arg)
{
Request* req = reinterpret_cast<Request *>(arg);
MavlinkFTP* server = MavlinkFTP::get_server();
// call the server worker with the work item
server->_process_request(req);
}
/// @brief Processes an FTP message
void
MavlinkFTP::_process_request(Request *req)
{
PayloadHeader *payload = reinterpret_cast<PayloadHeader *>(&req->message.payload[0]);
ErrorCode errorCode = kErrNone;
// basic sanity checks; must validate length before use
if (payload->size > kMaxDataLength) {
errorCode = kErrInvalidDataSize;
goto out;
}
#ifdef MAVLINK_FTP_DEBUG
printf("ftp: channel %u opc %u size %u offset %u\n", req->serverChannel, payload->opcode, payload->size, payload->offset);
#endif
switch (payload->opcode) {
case kCmdNone:
break;
case kCmdTerminateSession:
errorCode = _workTerminate(payload);
break;
case kCmdResetSessions:
errorCode = _workReset(payload);
break;
case kCmdListDirectory:
errorCode = _workList(payload);
break;
case kCmdOpenFileRO:
errorCode = _workOpen(payload, O_RDONLY);
break;
case kCmdCreateFile:
errorCode = _workOpen(payload, O_CREAT | O_EXCL | O_WRONLY);
break;
case kCmdOpenFileWO:
errorCode = _workOpen(payload, O_CREAT | O_WRONLY);
break;
case kCmdReadFile:
errorCode = _workRead(payload);
break;
case kCmdWriteFile:
errorCode = _workWrite(payload);
break;
case kCmdRemoveFile:
errorCode = _workRemoveFile(payload);
break;
case kCmdRename:
errorCode = _workRename(payload);
break;
case kCmdTruncateFile:
errorCode = _workTruncateFile(payload);
break;
case kCmdCreateDirectory:
errorCode = _workCreateDirectory(payload);
break;
case kCmdRemoveDirectory:
errorCode = _workRemoveDirectory(payload);
break;
case kCmdCalcFileCRC32:
errorCode = _workCalcFileCRC32(payload);
break;
default:
errorCode = kErrUnknownCommand;
break;
}
out:
// handle success vs. error
if (errorCode == kErrNone) {
payload->req_opcode = payload->opcode;
payload->opcode = kRspAck;
#ifdef MAVLINK_FTP_DEBUG
warnx("FTP: ack\n");
#endif
} else {
int r_errno = errno;
warnx("FTP: nak %u", errorCode);
payload->req_opcode = payload->opcode;
payload->opcode = kRspNak;
payload->size = 1;
payload->data[0] = errorCode;
if (errorCode == kErrFailErrno) {
payload->size = 2;
payload->data[1] = r_errno;
}
}
// respond to the request
_reply(req);
_return_request(req);
}
/// @brief Sends the specified FTP reponse message out through mavlink
void
MavlinkFTP::_reply(Request *req)
{
PayloadHeader *payload = reinterpret_cast<PayloadHeader *>(&req->message.payload[0]);
payload->seqNumber = payload->seqNumber + 1;
mavlink_message_t msg;
msg.checksum = 0;
#ifndef MAVLINK_FTP_UNIT_TEST
uint16_t len =
#endif
mavlink_msg_file_transfer_protocol_pack_chan(req->serverSystemId, // Sender system id
req->serverComponentId, // Sender component id
req->serverChannel, // Channel to send on
&msg, // Message to pack payload into
0, // Target network
req->targetSystemId, // Target system id
0, // Target component id
(const uint8_t*)payload); // Payload to pack into message
bool success = true;
#ifdef MAVLINK_FTP_UNIT_TEST
// Unit test hook is set, call that instead
_utRcvMsgFunc(&msg, _ftp_test);
#else
Mavlink *mavlink = req->mavlink;
mavlink->lockMessageBufferMutex();
success = mavlink->message_buffer_write(&msg, len);
mavlink->unlockMessageBufferMutex();
#endif
if (!success) {
warnx("FTP TX ERR");
}
#ifdef MAVLINK_FTP_DEBUG
else {
warnx("wrote: sys: %d, comp: %d, chan: %d, checksum: %d",
req->serverSystemId,
req->serverComponentId,
req->serverChannel,
msg.checksum);
}
#endif
}
/// @brief Responds to a List command
MavlinkFTP::ErrorCode
MavlinkFTP::_workList(PayloadHeader* payload)
{
char dirPath[kMaxDataLength];
strncpy(dirPath, _data_as_cstring(payload), kMaxDataLength);
DIR *dp = opendir(dirPath);
if (dp == nullptr) {
warnx("FTP: can't open path '%s'", dirPath);
return kErrFailErrno;
}
#ifdef MAVLINK_FTP_DEBUG
warnx("FTP: list %s offset %d", dirPath, payload->offset);
#endif
ErrorCode errorCode = kErrNone;
struct dirent entry, *result = nullptr;
unsigned offset = 0;
// move to the requested offset
seekdir(dp, payload->offset);
for (;;) {
// read the directory entry
if (readdir_r(dp, &entry, &result)) {
warnx("FTP: list %s readdir_r failure\n", dirPath);
errorCode = kErrFailErrno;
break;
}
// no more entries?
if (result == nullptr) {
if (payload->offset != 0 && offset == 0) {
// User is requesting subsequent dir entries but there were none. This means the user asked
// to seek past EOF.
errorCode = kErrEOF;
}
// Otherwise we are just at the last directory entry, so we leave the errorCode at kErrorNone to signal that
break;
}
uint32_t fileSize = 0;
char buf[256];
char direntType;
// Determine the directory entry type
switch (entry.d_type) {
case DTYPE_FILE:
// For files we get the file size as well
direntType = kDirentFile;
snprintf(buf, sizeof(buf), "%s/%s", dirPath, entry.d_name);
struct stat st;
if (stat(buf, &st) == 0) {
fileSize = st.st_size;
}
break;
case DTYPE_DIRECTORY:
if (strcmp(entry.d_name, ".") == 0 || strcmp(entry.d_name, "..") == 0) {
// Don't bother sending these back
direntType = kDirentSkip;
} else {
direntType = kDirentDir;
}
break;
default:
// We only send back file and diretory entries, skip everything else
direntType = kDirentSkip;
}
if (direntType == kDirentSkip) {
// Skip send only dirent identifier
buf[0] = '\0';
} else if (direntType == kDirentFile) {
// Files send filename and file length
snprintf(buf, sizeof(buf), "%s\t%d", entry.d_name, fileSize);
} else {
// Everything else just sends name
strncpy(buf, entry.d_name, sizeof(buf));
buf[sizeof(buf)-1] = 0;
}
size_t nameLen = strlen(buf);
// Do we have room for the name, the one char directory identifier and the null terminator?
if ((offset + nameLen + 2) > kMaxDataLength) {
break;
}
// Move the data into the buffer
payload->data[offset++] = direntType;
strcpy((char *)&payload->data[offset], buf);
#ifdef MAVLINK_FTP_DEBUG
printf("FTP: list %s %s\n", dirPath, (char *)&payload->data[offset-1]);
#endif
offset += nameLen + 1;
}
closedir(dp);
payload->size = offset;
return errorCode;
}
/// @brief Responds to an Open command
MavlinkFTP::ErrorCode
MavlinkFTP::_workOpen(PayloadHeader* payload, int oflag)
{
int session_index = _find_unused_session();
if (session_index < 0) {
warnx("FTP: Open failed - out of sessions\n");
return kErrNoSessionsAvailable;
}
char *filename = _data_as_cstring(payload);
uint32_t fileSize = 0;
struct stat st;
if (stat(filename, &st) != 0) {
// fail only if requested open for read
if (oflag & O_RDONLY)
return kErrFailErrno;
else
st.st_size = 0;
}
fileSize = st.st_size;
int fd = ::open(filename, oflag);
if (fd < 0) {
return kErrFailErrno;
}
_session_fds[session_index] = fd;
payload->session = session_index;
payload->size = sizeof(uint32_t);
*((uint32_t*)payload->data) = fileSize;
return kErrNone;
}
/// @brief Responds to a Read command
MavlinkFTP::ErrorCode
MavlinkFTP::_workRead(PayloadHeader* payload)
{
int session_index = payload->session;
if (!_valid_session(session_index)) {
return kErrInvalidSession;
}
// Seek to the specified position
#ifdef MAVLINK_FTP_DEBUG
warnx("seek %d", payload->offset);
#endif
if (lseek(_session_fds[session_index], payload->offset, SEEK_SET) < 0) {
// Unable to see to the specified location
warnx("seek fail");
return kErrEOF;
}
int bytes_read = ::read(_session_fds[session_index], &payload->data[0], kMaxDataLength);
if (bytes_read < 0) {
// Negative return indicates error other than eof
warnx("read fail %d", bytes_read);
return kErrFailErrno;
}
payload->size = bytes_read;
return kErrNone;
}
/// @brief Responds to a Write command
MavlinkFTP::ErrorCode
MavlinkFTP::_workWrite(PayloadHeader* payload)
{
int session_index = payload->session;
if (!_valid_session(session_index)) {
return kErrInvalidSession;
}
// Seek to the specified position
#ifdef MAVLINK_FTP_DEBUG
warnx("seek %d", payload->offset);
#endif
if (lseek(_session_fds[session_index], payload->offset, SEEK_SET) < 0) {
// Unable to see to the specified location
warnx("seek fail");
return kErrFailErrno;
}
int bytes_written = ::write(_session_fds[session_index], &payload->data[0], payload->size);
if (bytes_written < 0) {
// Negative return indicates error other than eof
warnx("write fail %d", bytes_written);
return kErrFailErrno;
}
payload->size = sizeof(uint32_t);
*((uint32_t*)payload->data) = bytes_written;
return kErrNone;
}
/// @brief Responds to a RemoveFile command
MavlinkFTP::ErrorCode
MavlinkFTP::_workRemoveFile(PayloadHeader* payload)
{
char file[kMaxDataLength];
strncpy(file, _data_as_cstring(payload), kMaxDataLength);
if (unlink(file) == 0) {
payload->size = 0;
return kErrNone;
} else {
return kErrFailErrno;
}
}
/// @brief Responds to a TruncateFile command
MavlinkFTP::ErrorCode
MavlinkFTP::_workTruncateFile(PayloadHeader* payload)
{
char file[kMaxDataLength];
const char temp_file[] = "/fs/microsd/.trunc.tmp";
strncpy(file, _data_as_cstring(payload), kMaxDataLength);
payload->size = 0;
// emulate truncate(file, payload->offset) by
// copying to temp and overwrite with O_TRUNC flag.
struct stat st;
if (stat(file, &st) != 0) {
return kErrFailErrno;
}
if (!S_ISREG(st.st_mode)) {
errno = EISDIR;
return kErrFailErrno;
}
// check perms allow us to write (not romfs)
if (!(st.st_mode & (S_IWUSR | S_IWGRP | S_IWOTH))) {
errno = EROFS;
return kErrFailErrno;
}
if (payload->offset == (unsigned)st.st_size) {
// nothing to do
return kErrNone;
}
else if (payload->offset == 0) {
// 1: truncate all data
int fd = ::open(file, O_TRUNC | O_WRONLY);
if (fd < 0) {
return kErrFailErrno;
}
::close(fd);
return kErrNone;
}
else if (payload->offset > (unsigned)st.st_size) {
// 2: extend file
int fd = ::open(file, O_WRONLY);
if (fd < 0) {
return kErrFailErrno;
}
if (lseek(fd, payload->offset - 1, SEEK_SET) < 0) {
::close(fd);
return kErrFailErrno;
}
bool ok = 1 == ::write(fd, "", 1);
::close(fd);
return (ok)? kErrNone : kErrFailErrno;
}
else {
// 3: truncate
if (_copy_file(file, temp_file, payload->offset) != 0) {
return kErrFailErrno;
}
if (_copy_file(temp_file, file, payload->offset) != 0) {
return kErrFailErrno;
}
if (::unlink(temp_file) != 0) {
return kErrFailErrno;
}
return kErrNone;
}
}
/// @brief Responds to a Terminate command
MavlinkFTP::ErrorCode
MavlinkFTP::_workTerminate(PayloadHeader* payload)
{
if (!_valid_session(payload->session)) {
return kErrInvalidSession;
}
::close(_session_fds[payload->session]);
_session_fds[payload->session] = -1;
payload->size = 0;
return kErrNone;
}
/// @brief Responds to a Reset command
MavlinkFTP::ErrorCode
MavlinkFTP::_workReset(PayloadHeader* payload)
{
for (size_t i=0; i<kMaxSession; i++) {
if (_session_fds[i] != -1) {
::close(_session_fds[i]);
_session_fds[i] = -1;
}
}
payload->size = 0;
return kErrNone;
}
/// @brief Responds to a Rename command
MavlinkFTP::ErrorCode
MavlinkFTP::_workRename(PayloadHeader* payload)
{
char oldpath[kMaxDataLength];
char newpath[kMaxDataLength];
char *ptr = _data_as_cstring(payload);
size_t oldpath_sz = strlen(ptr);
if (oldpath_sz == payload->size) {
// no newpath
errno = EINVAL;
return kErrFailErrno;
}
strncpy(oldpath, ptr, kMaxDataLength);
strncpy(newpath, ptr + oldpath_sz + 1, kMaxDataLength);
if (rename(oldpath, newpath) == 0) {
payload->size = 0;
return kErrNone;
} else {
return kErrFailErrno;
}
}
/// @brief Responds to a RemoveDirectory command
MavlinkFTP::ErrorCode
MavlinkFTP::_workRemoveDirectory(PayloadHeader* payload)
{
char dir[kMaxDataLength];
strncpy(dir, _data_as_cstring(payload), kMaxDataLength);
if (rmdir(dir) == 0) {
payload->size = 0;
return kErrNone;
} else {
return kErrFailErrno;
}
}
/// @brief Responds to a CreateDirectory command
MavlinkFTP::ErrorCode
MavlinkFTP::_workCreateDirectory(PayloadHeader* payload)
{
char dir[kMaxDataLength];
strncpy(dir, _data_as_cstring(payload), kMaxDataLength);
if (mkdir(dir, S_IRWXU | S_IRWXG | S_IRWXO) == 0) {
payload->size = 0;
return kErrNone;
} else {
return kErrFailErrno;
}
}
/// @brief Responds to a CalcFileCRC32 command
MavlinkFTP::ErrorCode
MavlinkFTP::_workCalcFileCRC32(PayloadHeader* payload)
{
char file_buf[256];
uint32_t checksum = 0;
ssize_t bytes_read;
strncpy(file_buf, _data_as_cstring(payload), kMaxDataLength);
int fd = ::open(file_buf, O_RDONLY);
if (fd < 0) {
return kErrFailErrno;
}
do {
bytes_read = ::read(fd, file_buf, sizeof(file_buf));
if (bytes_read < 0) {
int r_errno = errno;
::close(fd);
errno = r_errno;
return kErrFailErrno;
}
checksum = crc32part((uint8_t*)file_buf, bytes_read, checksum);
} while (bytes_read == sizeof(file_buf));
::close(fd);
payload->size = sizeof(uint32_t);
*((uint32_t*)payload->data) = checksum;
return kErrNone;
}
/// @brief Returns true if the specified session is a valid open session
bool
MavlinkFTP::_valid_session(unsigned index)
{
if ((index >= kMaxSession) || (_session_fds[index] < 0)) {
return false;
}
return true;
}
/// @brief Returns an unused session index
int
MavlinkFTP::_find_unused_session(void)
{
for (size_t i=0; i<kMaxSession; i++) {
if (_session_fds[i] == -1) {
return i;
}
}
return -1;
}
/// @brief Guarantees that the payload data is null terminated.
/// @return Returns a pointer to the payload data as a char *
char *
MavlinkFTP::_data_as_cstring(PayloadHeader* payload)
{
// guarantee nul termination
if (payload->size < kMaxDataLength) {
payload->data[payload->size] = '\0';
} else {
payload->data[kMaxDataLength - 1] = '\0';
}
// and return data
return (char *)&(payload->data[0]);
}
/// @brief Returns a unused Request entry. NULL if none available.
MavlinkFTP::Request *
MavlinkFTP::_get_request(void)
{
_lock_request_queue();
Request* req = reinterpret_cast<Request *>(dq_remfirst(&_request_queue));
_unlock_request_queue();
return req;
}
/// @brief Locks a semaphore to provide exclusive access to the request queue
void
MavlinkFTP::_lock_request_queue(void)
{
do {}
while (sem_wait(&_request_queue_sem) != 0);
}
/// @brief Unlocks the semaphore providing exclusive access to the request queue
void
MavlinkFTP::_unlock_request_queue(void)
{
sem_post(&_request_queue_sem);
}
/// @brief Returns a no longer needed request to the queue
void
MavlinkFTP::_return_request(Request *req)
{
_lock_request_queue();
dq_addlast(&req->work.dq, &_request_queue);
_unlock_request_queue();
}
/// @brief Copy file (with limited space)
int
MavlinkFTP::_copy_file(const char *src_path, const char *dst_path, size_t length)
{
char buff[512];
int src_fd = -1, dst_fd = -1;
int op_errno = 0;
src_fd = ::open(src_path, O_RDONLY);
if (src_fd < 0) {
return -1;
}
dst_fd = ::open(dst_path, O_CREAT | O_TRUNC | O_WRONLY);
if (dst_fd < 0) {
op_errno = errno;
::close(src_fd);
errno = op_errno;
return -1;
}
while (length > 0) {
ssize_t bytes_read, bytes_written;
size_t blen = (length > sizeof(buff))? sizeof(buff) : length;
bytes_read = ::read(src_fd, buff, blen);
if (bytes_read == 0) {
// EOF
break;
}
else if (bytes_read < 0) {
warnx("cp: read");
op_errno = errno;
break;
}
bytes_written = ::write(dst_fd, buff, bytes_read);
if (bytes_written != bytes_read) {
warnx("cp: short write");
op_errno = errno;
break;
}
length -= bytes_written;
}
::close(src_fd);
::close(dst_fd);
errno = op_errno;
return (length > 0)? -1 : 0;
}

9
src/modules/mavlink/mavlink_receiver_posix.cpp → src/modules/mavlink/mavlink_receiver.cpp
Unescape View File

@ -41,7 +41,12 @@
*/ */
/* XXX trim includes */ /* XXX trim includes */
#ifdef __PX4_NUTTX
#include <nuttx/config.h>
#include <nuttx/sched.h>
#else
#include <px4_config.h> #include <px4_config.h>
#endif
#include <unistd.h> #include <unistd.h>
#include <pthread.h> #include <pthread.h>
#include <stdio.h> #include <stdio.h>
@ -1495,14 +1500,14 @@ MavlinkReceiver::receive_thread(void *arg)
sprintf(thread_name, "mavlink_rcv_if%d", _mavlink->get_instance_id()); sprintf(thread_name, "mavlink_rcv_if%d", _mavlink->get_instance_id());
prctl(PR_SET_NAME, thread_name, getpid()); prctl(PR_SET_NAME, thread_name, getpid());
px4_pollfd_struct_t fds[1]; struct pollfd fds[1];
fds[0].fd = uart_fd; fds[0].fd = uart_fd;
fds[0].events = POLLIN; fds[0].events = POLLIN;
ssize_t nread = 0; ssize_t nread = 0;
while (!_mavlink->_task_should_exit) { while (!_mavlink->_task_should_exit) {
if (px4_poll(fds, 1, timeout) > 0) { if (poll(fds, 1, timeout) > 0) {
/* non-blocking read. read may return negative values */ /* non-blocking read. read may return negative values */
if ((nread = ::read(uart_fd, buf, sizeof(buf))) < (ssize_t)sizeof(buf)) { if ((nread = ::read(uart_fd, buf, sizeof(buf))) < (ssize_t)sizeof(buf)) {

1590
src/modules/mavlink/mavlink_receiver_nuttx.cpp
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File diff suppressed because it is too large Load Diff

6
src/modules/mavlink/mavlink_tests/module.mk
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@ -38,12 +38,8 @@
MODULE_COMMAND = mavlink_tests MODULE_COMMAND = mavlink_tests
SRCS = mavlink_tests.cpp \ SRCS = mavlink_tests.cpp \
mavlink_ftp_test.cpp \ mavlink_ftp_test.cpp \
SRCS += ../mavlink_ftp.cpp \
../mavlink.c ../mavlink.c
ifeq ($(PX4_TARGET_NUTTX),nuttx)
SRCS += ../mavlink_ftp_nuttx.cpp
else
SRCS += ../mavlink_ftp_posix.cpp
endif
INCLUDE_DIRS += $(MAVLINK_SRC)/include/mavlink INCLUDE_DIRS += $(MAVLINK_SRC)/include/mavlink

12
src/modules/mavlink/module.mk
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@ -37,13 +37,9 @@
MODULE_COMMAND = mavlink MODULE_COMMAND = mavlink
ifeq ($(PX4_TARGET_OS),nuttx) ifeq ($(PX4_TARGET_OS),nuttx)
SRCS += mavlink_main_nuttx.cpp \ SRCS += mavlink_main_nuttx.cpp
mavlink_ftp_nuttx.cpp \
mavlink_receiver_nuttx.cpp
else else
SRCS += mavlink_main_posix.cpp \ SRCS += mavlink_main_posix.cpp
mavlink_ftp_posix.cpp \
mavlink_receiver_posix.cpp
endif endif
SRCS += mavlink.c \ SRCS += mavlink.c \
@ -52,7 +48,9 @@ SRCS += mavlink.c \
mavlink_orb_subscription.cpp \ mavlink_orb_subscription.cpp \
mavlink_messages.cpp \ mavlink_messages.cpp \
mavlink_stream.cpp \ mavlink_stream.cpp \
mavlink_rate_limiter.cpp mavlink_rate_limiter.cpp \
mavlink_receiver.cpp \
mavlink_ftp.cpp
INCLUDE_DIRS += $(MAVLINK_SRC)/include/mavlink INCLUDE_DIRS += $(MAVLINK_SRC)/include/mavlink

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