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uorb devices: fix for QuRT which has no poll()

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This commit is contained in:
Beat Küng
2016-09-08 20:01:56 +02:00
committed by Julian Oes
parent 219ab519e3
commit 92d160c431
1 changed files with 17 additions and 2 deletions
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19
src/modules/uORB/uORBDevices.cpp
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@@ -35,6 +35,7 @@
#include <string.h>
#include <fcntl.h>
#include <errno.h>
#include <poll.h>
#include <systemlib/px4_macros.h>
#ifdef __PX4_NUTTX
@@ -1066,15 +1067,27 @@ void uORB::DeviceMaster::showTop(char **topic_filter, int num_filters)
/* a DeviceNode is never deleted, so it's save to unlock here and still access the DeviceNodes */
unlock();
#ifdef __PX4_QURT //QuRT has no poll()
int num_runs = 0;
#else
struct pollfd fds;
fds.fd = 0; /* stdin */
fds.events = POLLIN;
#endif
bool quit = false;
hrt_abstime start_time = hrt_absolute_time();
while (!quit) {
#ifdef __PX4_QURT
if (++num_runs > 1) {
quit = true; //just exit after one output
}
#else
/* Sleep 200 ms waiting for user input five times ~ 1s */
for (int k = 0; k < 5; k++) {
char c;
@@ -1094,6 +1107,8 @@ void uORB::DeviceMaster::showTop(char **topic_filter, int num_filters)
usleep(200000);
}
#endif
if (!quit) {
//update the stats
@@ -1132,8 +1147,8 @@ void uORB::DeviceMaster::showTop(char **topic_filter, int num_filters)
printf(CLEAR_LINE "%*s %2i %4i %4i %5i %i\n", -(int)max_topic_name_length,
#endif
cur_node->node->get_meta()->o_name, (int)cur_node->instance,
cur_node->node->subscriber_count(), cur_node->pub_msg_delta,
cur_node->lost_msg_delta, cur_node->node->get_queue_size());
(int)cur_node->node->subscriber_count(), cur_node->pub_msg_delta,
(int)cur_node->lost_msg_delta, cur_node->node->get_queue_size());
}
cur_node = cur_node->next;