From e6542653b9d013d5cb1b1c0f01ee9af7de4abe5b Mon Sep 17 00:00:00 2001
From: Helen Oleynikova <helenoleynikova@gmail.com>
Date: Thu, 10 Apr 2014 10:26:15 +0200
Subject: Finished adding a '-w' option.

---
 src/modules/mavlink/mavlink_main.cpp | 37 +++++++++++++++++++++++-------------
 1 file changed, 24 insertions(+), 13 deletions(-)

(limited to 'src/modules/mavlink/mavlink_main.cpp')

diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index 1ed3f4001..b9e0663b7 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -167,12 +167,12 @@ mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length
 	int buf_free = 0;
 
 	if (instance->get_flow_control_enabled()
-	    && ioctl(uart, FIONWRITE, (unsigned long)&buf_free) == 0) {
+		&& ioctl(uart, FIONWRITE, (unsigned long)&buf_free) == 0) {
 
 		if (buf_free == 0) {
 
 			if (last_write_times[(unsigned)channel] != 0 &&
-			    hrt_elapsed_time(&last_write_times[(unsigned)channel]) > 500 * 1000UL) {
+				hrt_elapsed_time(&last_write_times[(unsigned)channel]) > 500 * 1000UL) {
 
 				warnx("DISABLING HARDWARE FLOW CONTROL");
 				instance->enable_flow_control(false);
@@ -186,12 +186,17 @@ mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length
 		}
 	}
 
-	ssize_t ret = write(uart, ch, desired);
-
-	if (ret != desired) {
-		// XXX do something here, but change to using FIONWRITE and OS buf size for detection
+	/* If the wait until transmit flag is on, only transmit after we've received messages.
+	   Otherwise, transmit all the time. */
+	if (instance->should_transmit()) {
+	   ssize_t ret = write(uart, ch, desired);
+		if (ret != desired) {
+			// XXX do something here, but change to using FIONWRITE and OS buf size for detection
+		}
 	}
 
+
+
 }
 
 static void usage(void);
@@ -204,6 +209,8 @@ Mavlink::Mavlink() :
 	_task_running(false),
 	_hil_enabled(false),
 	_is_usb_uart(false),
+	_wait_to_transmit(false),
+	_received_messages(false),
 	_main_loop_delay(1000),
 	_subscriptions(nullptr),
 	_streams(nullptr),
@@ -1768,7 +1775,7 @@ Mavlink::task_main(int argc, char *argv[])
 	 * set error flag instead */
 	bool err_flag = false;
 
-	while ((ch = getopt(argc, argv, "b:r:d:m:fpv")) != EOF) {
+	while ((ch = getopt(argc, argv, "b:r:d:m:fpvw")) != EOF) {
 		switch (ch) {
 		case 'b':
 			_baudrate = strtoul(optarg, NULL, 10);
@@ -1820,6 +1827,10 @@ Mavlink::task_main(int argc, char *argv[])
 			_verbose = true;
 			break;
 
+		case 'w':
+			_wait_to_transmit = true;
+			break;
+
 		default:
 			err_flag = true;
 			break;
@@ -2164,11 +2175,11 @@ Mavlink::start(int argc, char *argv[])
 	// task - start_helper() only returns
 	// when the started task exits.
 	task_spawn_cmd(buf,
-		       SCHED_DEFAULT,
-		       SCHED_PRIORITY_DEFAULT,
-		       2048,
-		       (main_t)&Mavlink::start_helper,
-		       (const char **)argv);
+			   SCHED_DEFAULT,
+			   SCHED_PRIORITY_DEFAULT,
+			   2048,
+			   (main_t)&Mavlink::start_helper,
+			   (const char **)argv);
 
 	// Ensure that this shell command
 	// does not return before the instance
@@ -2264,7 +2275,7 @@ Mavlink::stream(int argc, char *argv[])
 
 static void usage()
 {
-	warnx("usage: mavlink {start|stop-all|stream} [-d device] [-b baudrate] [-r rate] [-m mode] [-s stream] [-f] [-p] [-v]");
+	warnx("usage: mavlink {start|stop-all|stream} [-d device] [-b baudrate] [-r rate] [-m mode] [-s stream] [-f] [-p] [-v] [-w]");
 }
 
 int mavlink_main(int argc, char *argv[])
-- 
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