16247112396

Committed 13 Jul 2025 08:18AM UTC coverage: 46.221% (+1.0%) from 45.212%

Build # 16247112396

Build Type

Pull #2610

github

Committed by

web-flow

Commit Message

Merge a15009557 into 6c112e71f

Pull Request Pull Request #2610: Integrate parts of libmav into MAVSDK and add MavlinkDirect plugin

Run Details

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27 existing lines in 5 files now uncovered.

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0.0

/src/mavsdk/core/serial_connection.cpp

#include "serial_connection.h"
#include "log.h"

#if defined(APPLE) || defined(LINUX)
#include <unistd.h>
#include <fcntl.h>
#include <termios.h>
#include <poll.h>

#include <utility>
#endif

#include <sstream>

namespace mavsdk {

#ifndef WINDOWS
#define GET_ERROR() strerror(errno)
#else
#define GET_ERROR() GetLastErrorStdStr()
// Taken from:
// https://coolcowstudio.wordpress.com/2012/10/19/getlasterror-as-stdstring/
std::string GetLastErrorStdStr()
{
    DWORD error = GetLastError();
    if (error) {
        LPVOID lpMsgBuf;
        DWORD bufLen = FormatMessage(
            FORMAT_MESSAGE_ALLOCATE_BUFFER | FORMAT_MESSAGE_FROM_SYSTEM |
                FORMAT_MESSAGE_IGNORE_INSERTS,
            NULL,
            error,
            MAKELANGID(LANG_NEUTRAL, SUBLANG_DEFAULT),
            (LPTSTR)&lpMsgBuf,
            0,
            NULL);
        if (bufLen) {
            LPCSTR lpMsgStr = (LPCSTR)lpMsgBuf;
            std::string result(lpMsgStr, lpMsgStr + bufLen);

            LocalFree(lpMsgBuf);

            return result;
        }
    }
    return std::string();
}
#endif

SerialConnection::SerialConnection(
    Connection::ReceiverCallback receiver_callback,
    std::string path,
    int baudrate,
    bool flow_control,
    ForwardingOption forwarding_option) :
    Connection(std::move(receiver_callback), forwarding_option),
    _serial_node(std::move(path)),
    _baudrate(baudrate),
    _flow_control(flow_control)
{}

SerialConnection::SerialConnection(
    Connection::ReceiverCallback receiver_callback,
    Connection::LibmavReceiverCallback libmav_receiver_callback,
    std::string path,
    int baudrate,
    bool flow_control,
    ForwardingOption forwarding_option) :
    Connection(
        std::move(receiver_callback), std::move(libmav_receiver_callback), forwarding_option),
    _serial_node(std::move(path)),
    _baudrate(baudrate),
    _flow_control(flow_control)
{}

SerialConnection::~SerialConnection()
{
    // If no one explicitly called stop before, we should at least do it.
    stop();
}

ConnectionResult SerialConnection::start()
{
    if (!start_mavlink_receiver()) {
        return ConnectionResult::ConnectionsExhausted;
    }

    ConnectionResult ret = setup_port();
    if (ret != ConnectionResult::Success) {
        return ret;
    }

    start_recv_thread();

    return ConnectionResult::Success;
}

ConnectionResult SerialConnection::setup_port()
{
#if defined(LINUX) || defined(APPLE)
    // open() hangs on macOS or Linux devices(e.g. pocket beagle) unless you give it O_NONBLOCK
    _fd = open(_serial_node.c_str(), O_RDWR | O_NOCTTY | O_NONBLOCK);
    if (_fd == -1) {
        LogErr() << "open failed: " << GET_ERROR();
        return ConnectionResult::ConnectionError;
    }
    // We need to clear the O_NONBLOCK again because we can block while reading
    // as we do it in a separate thread.
    if (fcntl(_fd, F_SETFL, 0) == -1) {
        LogErr() << "fcntl failed: " << GET_ERROR();
        return ConnectionResult::ConnectionError;
    }
#elif defined(WINDOWS)
    // Required for COM ports > 9.
    const auto full_serial_path = "\\\\.\\" + _serial_node;

    _handle = CreateFile(
        full_serial_path.c_str(),
        GENERIC_READ | GENERIC_WRITE,
        0, // exclusive-access
        NULL, //  default security attributes
        OPEN_EXISTING,
        0, //  not overlapped I/O
        NULL); //  hTemplate must be NULL for comm devices

    if (_handle == INVALID_HANDLE_VALUE) {
        LogErr() << "CreateFile failed with: " << GET_ERROR();
        return ConnectionResult::ConnectionError;
    }
#endif

#if defined(LINUX) || defined(APPLE)
    struct termios tc;
    bzero(&tc, sizeof(tc));

    if (tcgetattr(_fd, &tc) != 0) {
        LogErr() << "tcgetattr failed: " << GET_ERROR();
        close(_fd);
        return ConnectionResult::ConnectionError;
    }
#endif

#if defined(LINUX) || defined(APPLE)
    tc.c_iflag &= ~(IGNBRK | BRKINT | ICRNL | INLCR | PARMRK | INPCK | ISTRIP | IXON);
    tc.c_oflag &= ~(OCRNL | ONLCR | ONLRET | ONOCR | OFILL | OPOST);
    tc.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG | TOSTOP);
    tc.c_cflag &= ~(CSIZE | PARENB | CRTSCTS);
    tc.c_cflag |= CS8;

    tc.c_cc[VMIN] = 0; // We are ok with 0 bytes.
    tc.c_cc[VTIME] = 10; // Timeout after 1 second.

    if (_flow_control) {
        tc.c_cflag |= CRTSCTS;
    }
#endif

#if defined(LINUX) || defined(APPLE)
    tc.c_cflag |= CLOCAL; // Without this a write() blocks indefinitely.

#if defined(LINUX)
    const int baudrate_or_define = define_from_baudrate(_baudrate);
#elif defined(APPLE)
    const int baudrate_or_define = _baudrate;
#endif

    if (baudrate_or_define == -1) {
        return ConnectionResult::BaudrateUnknown;
    }

    if (cfsetispeed(&tc, baudrate_or_define) != 0) {
        LogErr() << "cfsetispeed failed: " << GET_ERROR();
        close(_fd);
        return ConnectionResult::ConnectionError;
    }

    if (cfsetospeed(&tc, baudrate_or_define) != 0) {
        LogErr() << "cfsetospeed failed: " << GET_ERROR();
        close(_fd);
        return ConnectionResult::ConnectionError;
    }

    if (tcsetattr(_fd, TCSANOW, &tc) != 0) {
        LogErr() << "tcsetattr failed: " << GET_ERROR();
        close(_fd);
        return ConnectionResult::ConnectionError;
    }
#endif

#if defined(WINDOWS)
    DCB dcb;
    SecureZeroMemory(&dcb, sizeof(DCB));
    dcb.DCBlength = sizeof(DCB);

    if (!GetCommState(_handle, &dcb)) {
        LogErr() << "GetCommState failed with error: " << GET_ERROR();
        return ConnectionResult::ConnectionError;
    }

    dcb.BaudRate = _baudrate;
    dcb.ByteSize = 8;
    dcb.Parity = NOPARITY;
    dcb.StopBits = ONESTOPBIT;
    if (_flow_control) {
        dcb.fOutxCtsFlow = TRUE;
        dcb.fDtrControl = DTR_CONTROL_HANDSHAKE;
        dcb.fRtsControl = RTS_CONTROL_HANDSHAKE;
    } else {
        dcb.fDtrControl = DTR_CONTROL_DISABLE;
        dcb.fRtsControl = RTS_CONTROL_DISABLE;
    }
    dcb.fOutX = FALSE;
    dcb.fInX = FALSE;
    dcb.fBinary = TRUE;
    dcb.fNull = FALSE;
    dcb.fDsrSensitivity = FALSE;

    if (!SetCommState(_handle, &dcb)) {
        LogErr() << "SetCommState failed with error: " << GET_ERROR();
        return ConnectionResult::ConnectionError;
    }

    COMMTIMEOUTS timeout = {0, 0, 0, 0, 0};
    timeout.ReadIntervalTimeout = 1;
    timeout.ReadTotalTimeoutConstant = 1;
    timeout.ReadTotalTimeoutMultiplier = 1;
    timeout.WriteTotalTimeoutConstant = 1;
    timeout.WriteTotalTimeoutMultiplier = 1;
    SetCommTimeouts(_handle, &timeout);

    if (!SetCommTimeouts(_handle, &timeout)) {
        LogErr() << "SetCommTimeouts failed with error: " << GET_ERROR();
        return ConnectionResult::ConnectionError;
    }

#endif

    return ConnectionResult::Success;
}

void SerialConnection::start_recv_thread()
{
    _recv_thread = std::make_unique<std::thread>(&SerialConnection::receive, this);
}

ConnectionResult SerialConnection::stop()
{
    _should_exit = true;

    if (_recv_thread) {
        _recv_thread->join();
        _recv_thread.reset();
    }

#if defined(LINUX) || defined(APPLE)
    close(_fd);
#elif defined(WINDOWS)
    CloseHandle(_handle);
#endif

    // We need to stop this after stopping the receive thread, otherwise
    // it can happen that we interfere with the parsing of a message.
    stop_mavlink_receiver();

    return ConnectionResult::Success;
}

std::pair<bool, std::string> SerialConnection::send_message(const mavlink_message_t& message)
{
    std::pair<bool, std::string> result;

    if (_serial_node.empty()) {
        LogErr() << "Dev Path unknown";
        result.first = false;
        result.second = "Dev Path unknown";
        return result;
    }

    if (_baudrate == 0) {
        result.first = false;
        result.second = "Baudrate unknown";
        return result;
    }

    uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
    uint16_t buffer_len = mavlink_msg_to_send_buffer(buffer, &message);

    int send_len;
#if defined(LINUX) || defined(APPLE)
    send_len = static_cast<int>(write(_fd, buffer, buffer_len));
#else
    if (!WriteFile(_handle, buffer, buffer_len, LPDWORD(&send_len), NULL)) {
        std::stringstream ss;
        ss << "WriteFile failure: " << GET_ERROR();
        LogErr() << ss.str();
        result.first = false;
        result.second = ss.str();
        return result;
    }
#endif

    if (send_len != buffer_len) {
        result.first = false;
        result.second = "Baudrate unknown";

        std::stringstream ss;
        ss << "write failure: " << GET_ERROR();
        LogErr() << ss.str();
        result.first = false;
        result.second = ss.str();
        return result;
    }

    result.first = true;
    return result;
}

void SerialConnection::receive()
{
    // Enough for MTU 1500 bytes.
    char buffer[2048];

#if defined(LINUX) || defined(APPLE)
    struct pollfd fds[1];
    fds[0].fd = _fd;
    fds[0].events = POLLIN;
#endif

    while (!_should_exit) {
        int recv_len;
#if defined(LINUX) || defined(APPLE)
        int pollrc = poll(fds, 1, 1000);
        if (pollrc == 0 || !(fds[0].revents & POLLIN)) {
            continue;
        } else if (pollrc == -1) {
            LogErr() << "read poll failure: " << GET_ERROR();
        }
        // We enter here if (fds[0].revents & POLLIN) == true
        recv_len = static_cast<int>(read(_fd, buffer, sizeof(buffer)));
        if (recv_len < -1) {
            LogErr() << "read failure: " << GET_ERROR();
        }
#else
        if (!ReadFile(_handle, buffer, sizeof(buffer), LPDWORD(&recv_len), NULL)) {
            LogErr() << "ReadFile failure: " << GET_ERROR();
            continue;
        }
#endif
        if (recv_len > static_cast<int>(sizeof(buffer)) || recv_len == 0) {
            continue;
        }
        _mavlink_receiver->set_new_datagram(buffer, recv_len);
        // Parse all mavlink messages in one data packet. Once exhausted, we'll exit while.
        while (_mavlink_receiver->parse_message()) {
            receive_message(_mavlink_receiver->get_last_message(), this);
        }
    }
}

#if defined(LINUX)
int SerialConnection::define_from_baudrate(int baudrate)
{
    switch (baudrate) {
        case 9600:
            return B9600;
        case 19200:
            return B19200;
        case 38400:
            return B38400;
        case 57600:
            return B57600;
        case 115200:
            return B115200;
        case 230400:
            return B230400;
        case 460800:
            return B460800;
        case 500000:
            return B500000;
        case 576000:
            return B576000;
        case 921600:
            return B921600;
        case 1000000:
            return B1000000;
        case 1152000:
            return B1152000;
        case 1500000:
            return B1500000;
        case 2000000:
            return B2000000;
        case 2500000:
            return B2500000;
        case 3000000:
            return B3000000;
        case 3500000:
            return B3500000;
        case 4000000:
            return B4000000;
        default: {
            LogErr() << "Unknown baudrate";
            return -1;
        }
    }
}
#endif

} // namespace mavsdk

1	#include "serial_connection.h"
2	#include "log.h"
3
4	#if defined(APPLE) \|\| defined(LINUX)
5	#include <unistd.h>
6	#include <fcntl.h>
7	#include <termios.h>
8	#include <poll.h>
9
10	#include <utility>
11	#endif
12
13	#include <sstream>
14
15	namespace mavsdk {
16
17	#ifndef WINDOWS
18	#define GET_ERROR() strerror(errno)
19	#else
20	#define GET_ERROR() GetLastErrorStdStr()
21	// Taken from:
22	// https://coolcowstudio.wordpress.com/2012/10/19/getlasterror-as-stdstring/
23	std::string GetLastErrorStdStr()
24	{
25	DWORD error = GetLastError();
26	if (error) {
27	LPVOID lpMsgBuf;
28	DWORD bufLen = FormatMessage(
29	FORMAT_MESSAGE_ALLOCATE_BUFFER \| FORMAT_MESSAGE_FROM_SYSTEM \|
30	FORMAT_MESSAGE_IGNORE_INSERTS,
31	NULL,
32	error,
33	MAKELANGID(LANG_NEUTRAL, SUBLANG_DEFAULT),
34	(LPTSTR)&lpMsgBuf,
35	0,
36	NULL);
37	if (bufLen) {
38	LPCSTR lpMsgStr = (LPCSTR)lpMsgBuf;
39	std::string result(lpMsgStr, lpMsgStr + bufLen);
40
41	LocalFree(lpMsgBuf);
42
43	return result;
44	}
45	}
46	return std::string();
47	}
48	#endif
49
50	SerialConnection::SerialConnection(	×
51	Connection::ReceiverCallback receiver_callback,
52	std::string path,
53	int baudrate,
54	bool flow_control,
55	ForwardingOption forwarding_option) :	×
56	Connection(std::move(receiver_callback), forwarding_option),	×
57	_serial_node(std::move(path)),	×
58	_baudrate(baudrate),	×
59	_flow_control(flow_control)	×
60	{}	×
61
NEW 62	SerialConnection::SerialConnection(	×
63	Connection::ReceiverCallback receiver_callback,
64	Connection::LibmavReceiverCallback libmav_receiver_callback,
65	std::string path,
66	int baudrate,
67	bool flow_control,
NEW 68	ForwardingOption forwarding_option) :	×
69	Connection(
NEW 70	std::move(receiver_callback), std::move(libmav_receiver_callback), forwarding_option),	×
NEW 71	_serial_node(std::move(path)),	×
NEW 72	_baudrate(baudrate),	×
NEW 73	_flow_control(flow_control)	×
NEW 74	{}	×
75
UNCOV 76	SerialConnection::~SerialConnection()	×
77	{
78	// If no one explicitly called stop before, we should at least do it.
79	stop();	×
80	}	×
81
82	ConnectionResult SerialConnection::start()	×
83	{
84	if (!start_mavlink_receiver()) {	×
85	return ConnectionResult::ConnectionsExhausted;	×
86	}
87
88	ConnectionResult ret = setup_port();	×
89	if (ret != ConnectionResult::Success) {	×
90	return ret;	×
91	}
92
93	start_recv_thread();	×
94
95	return ConnectionResult::Success;	×
96	}
97
98	ConnectionResult SerialConnection::setup_port()	×
99	{
100	#if defined(LINUX) \|\| defined(APPLE)
101	// open() hangs on macOS or Linux devices(e.g. pocket beagle) unless you give it O_NONBLOCK
102	_fd = open(_serial_node.c_str(), O_RDWR \| O_NOCTTY \| O_NONBLOCK);	×
103	if (_fd == -1) {	×
104	LogErr() << "open failed: " << GET_ERROR();	×
105	return ConnectionResult::ConnectionError;	×
106	}
107	// We need to clear the O_NONBLOCK again because we can block while reading
108	// as we do it in a separate thread.
109	if (fcntl(_fd, F_SETFL, 0) == -1) {	×
110	LogErr() << "fcntl failed: " << GET_ERROR();	×
111	return ConnectionResult::ConnectionError;	×
112	}
113	#elif defined(WINDOWS)
114	// Required for COM ports > 9.
115	const auto full_serial_path = "\\\\.\\" + _serial_node;
116
117	_handle = CreateFile(
118	full_serial_path.c_str(),
119	GENERIC_READ \| GENERIC_WRITE,
120	0, // exclusive-access
121	NULL, // default security attributes
122	OPEN_EXISTING,
123	0, // not overlapped I/O
124	NULL); // hTemplate must be NULL for comm devices
125
126	if (_handle == INVALID_HANDLE_VALUE) {
127	LogErr() << "CreateFile failed with: " << GET_ERROR();
128	return ConnectionResult::ConnectionError;
129	}
130	#endif
131
132	#if defined(LINUX) \|\| defined(APPLE)
133	struct termios tc;	×
134	bzero(&tc, sizeof(tc));	×
135
136	if (tcgetattr(_fd, &tc) != 0) {	×
137	LogErr() << "tcgetattr failed: " << GET_ERROR();	×
138	close(_fd);	×
139	return ConnectionResult::ConnectionError;	×
140	}
141	#endif
142
143	#if defined(LINUX) \|\| defined(APPLE)
144	tc.c_iflag &= ~(IGNBRK \| BRKINT \| ICRNL \| INLCR \| PARMRK \| INPCK \| ISTRIP \| IXON);	×
145	tc.c_oflag &= ~(OCRNL \| ONLCR \| ONLRET \| ONOCR \| OFILL \| OPOST);	×
146	tc.c_lflag &= ~(ECHO \| ECHONL \| ICANON \| IEXTEN \| ISIG \| TOSTOP);	×
147	tc.c_cflag &= ~(CSIZE \| PARENB \| CRTSCTS);	×
148	tc.c_cflag \|= CS8;	×
149
150	tc.c_cc[VMIN] = 0; // We are ok with 0 bytes.	×
151	tc.c_cc[VTIME] = 10; // Timeout after 1 second.	×
152
153	if (_flow_control) {	×
154	tc.c_cflag \|= CRTSCTS;	×
155	}
156	#endif
157
158	#if defined(LINUX) \|\| defined(APPLE)
159	tc.c_cflag \|= CLOCAL; // Without this a write() blocks indefinitely.	×
160
161	#if defined(LINUX)
162	const int baudrate_or_define = define_from_baudrate(_baudrate);	×
163	#elif defined(APPLE)
164	const int baudrate_or_define = _baudrate;
165	#endif
166
167	if (baudrate_or_define == -1) {	×
168	return ConnectionResult::BaudrateUnknown;	×
169	}
170
171	if (cfsetispeed(&tc, baudrate_or_define) != 0) {	×
172	LogErr() << "cfsetispeed failed: " << GET_ERROR();	×
173	close(_fd);	×
174	return ConnectionResult::ConnectionError;	×
175	}
176
177	if (cfsetospeed(&tc, baudrate_or_define) != 0) {	×
178	LogErr() << "cfsetospeed failed: " << GET_ERROR();	×
179	close(_fd);	×
180	return ConnectionResult::ConnectionError;	×
181	}
182
183	if (tcsetattr(_fd, TCSANOW, &tc) != 0) {	×
184	LogErr() << "tcsetattr failed: " << GET_ERROR();	×
185	close(_fd);	×
186	return ConnectionResult::ConnectionError;	×
187	}
188	#endif
189
190	#if defined(WINDOWS)
191	DCB dcb;
192	SecureZeroMemory(&dcb, sizeof(DCB));
193	dcb.DCBlength = sizeof(DCB);
194
195	if (!GetCommState(_handle, &dcb)) {
196	LogErr() << "GetCommState failed with error: " << GET_ERROR();
197	return ConnectionResult::ConnectionError;
198	}
199
200	dcb.BaudRate = _baudrate;
201	dcb.ByteSize = 8;
202	dcb.Parity = NOPARITY;
203	dcb.StopBits = ONESTOPBIT;
204	if (_flow_control) {
205	dcb.fOutxCtsFlow = TRUE;
206	dcb.fDtrControl = DTR_CONTROL_HANDSHAKE;
207	dcb.fRtsControl = RTS_CONTROL_HANDSHAKE;
208	} else {
209	dcb.fDtrControl = DTR_CONTROL_DISABLE;
210	dcb.fRtsControl = RTS_CONTROL_DISABLE;
211	}
212	dcb.fOutX = FALSE;
213	dcb.fInX = FALSE;
214	dcb.fBinary = TRUE;
215	dcb.fNull = FALSE;
216	dcb.fDsrSensitivity = FALSE;
217
218	if (!SetCommState(_handle, &dcb)) {
219	LogErr() << "SetCommState failed with error: " << GET_ERROR();
220	return ConnectionResult::ConnectionError;
221	}
222
223	COMMTIMEOUTS timeout = {0, 0, 0, 0, 0};
224	timeout.ReadIntervalTimeout = 1;
225	timeout.ReadTotalTimeoutConstant = 1;
226	timeout.ReadTotalTimeoutMultiplier = 1;
227	timeout.WriteTotalTimeoutConstant = 1;
228	timeout.WriteTotalTimeoutMultiplier = 1;
229	SetCommTimeouts(_handle, &timeout);
230
231	if (!SetCommTimeouts(_handle, &timeout)) {
232	LogErr() << "SetCommTimeouts failed with error: " << GET_ERROR();
233	return ConnectionResult::ConnectionError;
234	}
235
236	#endif
237
238	return ConnectionResult::Success;	×
239	}
240
241	void SerialConnection::start_recv_thread()	×
242	{
243	_recv_thread = std::make_unique<std::thread>(&SerialConnection::receive, this);	×
244	}	×
245
246	ConnectionResult SerialConnection::stop()	×
247	{
248	_should_exit = true;	×
249
250	if (_recv_thread) {	×
251	_recv_thread->join();	×
252	_recv_thread.reset();	×
253	}
254
255	#if defined(LINUX) \|\| defined(APPLE)
256	close(_fd);	×
257	#elif defined(WINDOWS)
258	CloseHandle(_handle);
259	#endif
260
261	// We need to stop this after stopping the receive thread, otherwise
262	// it can happen that we interfere with the parsing of a message.
263	stop_mavlink_receiver();	×
264
265	return ConnectionResult::Success;	×
266	}
267
268	std::pair<bool, std::string> SerialConnection::send_message(const mavlink_message_t& message)	×
269	{
270	std::pair<bool, std::string> result;	×
271
272	if (_serial_node.empty()) {	×
273	LogErr() << "Dev Path unknown";	×
274	result.first = false;	×
275	result.second = "Dev Path unknown";	×
276	return result;	×
277	}
278
279	if (_baudrate == 0) {	×
280	result.first = false;	×
281	result.second = "Baudrate unknown";	×
282	return result;	×
283	}
284
285	uint8_t buffer[MAVLINK_MAX_PACKET_LEN];	×
286	uint16_t buffer_len = mavlink_msg_to_send_buffer(buffer, &message);	×
287
288	int send_len;
289	#if defined(LINUX) \|\| defined(APPLE)
290	send_len = static_cast<int>(write(_fd, buffer, buffer_len));	×
291	#else
292	if (!WriteFile(_handle, buffer, buffer_len, LPDWORD(&send_len), NULL)) {
293	std::stringstream ss;
294	ss << "WriteFile failure: " << GET_ERROR();
295	LogErr() << ss.str();
296	result.first = false;
297	result.second = ss.str();
298	return result;
299	}
300	#endif
301
302	if (send_len != buffer_len) {	×
303	result.first = false;	×
304	result.second = "Baudrate unknown";	×
305
306	std::stringstream ss;	×
307	ss << "write failure: " << GET_ERROR();	×
308	LogErr() << ss.str();	×
309	result.first = false;	×
310	result.second = ss.str();	×
311	return result;	×
312	}	×
313
314	result.first = true;	×
315	return result;	×
316	}
317
318	void SerialConnection::receive()	×
319	{
320	// Enough for MTU 1500 bytes.
321	char buffer[2048];	×
322
323	#if defined(LINUX) \|\| defined(APPLE)
324	struct pollfd fds[1];	×
325	fds[0].fd = _fd;	×
326	fds[0].events = POLLIN;	×
327	#endif
328
329	while (!_should_exit) {	×
330	int recv_len;
331	#if defined(LINUX) \|\| defined(APPLE)
332	int pollrc = poll(fds, 1, 1000);	×
333	if (pollrc == 0 \|\| !(fds[0].revents & POLLIN)) {	×
334	continue;	×
335	} else if (pollrc == -1) {	×
336	LogErr() << "read poll failure: " << GET_ERROR();	×
337	}
338	// We enter here if (fds[0].revents & POLLIN) == true
339	recv_len = static_cast<int>(read(_fd, buffer, sizeof(buffer)));	×
340	if (recv_len < -1) {	×
341	LogErr() << "read failure: " << GET_ERROR();	×
342	}
343	#else
344	if (!ReadFile(_handle, buffer, sizeof(buffer), LPDWORD(&recv_len), NULL)) {
345	LogErr() << "ReadFile failure: " << GET_ERROR();
346	continue;
347	}
348	#endif
349	if (recv_len > static_cast<int>(sizeof(buffer)) \|\| recv_len == 0) {	×
350	continue;	×
351	}
352	_mavlink_receiver->set_new_datagram(buffer, recv_len);	×
353	// Parse all mavlink messages in one data packet. Once exhausted, we'll exit while.
354	while (_mavlink_receiver->parse_message()) {	×
355	receive_message(_mavlink_receiver->get_last_message(), this);	×
356	}
357	}
358	}	×
359
360	#if defined(LINUX)
361	int SerialConnection::define_from_baudrate(int baudrate)	×
362	{
363	switch (baudrate) {	×
364	case 9600:	×
365	return B9600;	×
366	case 19200:	×
367	return B19200;	×
368	case 38400:	×
369	return B38400;	×
370	case 57600:	×
371	return B57600;	×
372	case 115200:	×
373	return B115200;	×
374	case 230400:	×
375	return B230400;	×
376	case 460800:	×
377	return B460800;	×
378	case 500000:	×
379	return B500000;	×
380	case 576000:	×
381	return B576000;	×
382	case 921600:	×
383	return B921600;	×
384	case 1000000:	×
385	return B1000000;	×
386	case 1152000:	×
387	return B1152000;	×
388	case 1500000:	×
389	return B1500000;	×
390	case 2000000:	×
391	return B2000000;	×
392	case 2500000:	×
393	return B2500000;	×
394	case 3000000:	×
395	return B3000000;	×
396	case 3500000:	×
397	return B3500000;	×
398	case 4000000:	×
399	return B4000000;	×
400	default: {	×
401	LogErr() << "Unknown baudrate";	×
402	return -1;	×
403	}
404	}
405	}
406	#endif
407
408	} // namespace mavsdk

mavlink / MAVSDK / 16247112396

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