diff options
| -rw-r--r-- | src/modules/uavcan/uavcan_main.cpp | 22 |
1 files changed, 16 insertions, 6 deletions
diff --git a/src/modules/uavcan/uavcan_main.cpp b/src/modules/uavcan/uavcan_main.cpp index a86314852..9cd486bf5 100644 --- a/src/modules/uavcan/uavcan_main.cpp +++ b/src/modules/uavcan/uavcan_main.cpp @@ -92,8 +92,8 @@ UavcanNode::~UavcanNode() unsigned i = 10; do { - /* wait 50ms - it should wake every 100ms or so worst-case */ - usleep(50000); + /* wait 5ms - it should wake every 10ms or so worst-case */ + usleep(5000); /* if we have given up, kill it */ if (--i == 0) { @@ -522,15 +522,16 @@ int uavcan_main(int argc, char *argv[]) bitrate = DEFAULT_CAN_BITRATE; } + if (UavcanNode::instance()) { + errx(1, "already started"); + } + /* * Start */ warnx("Node ID %u, bitrate %u", node_id, bitrate); return UavcanNode::start(node_id, bitrate); - } else { - print_usage(); - ::exit(1); } /* commands below require the app to be started */ @@ -543,7 +544,16 @@ int uavcan_main(int argc, char *argv[]) if (!std::strcmp(argv[1], "status") || !std::strcmp(argv[1], "info")) { inst->print_info(); + return OK; } - return 0; + if (!std::strcmp(argv[1], "stop")) { + + delete inst; + inst = nullptr; + return OK; + } + + print_usage(); + ::exit(1); } |