From 83eb81251c8405c96aaa72fc1634d15a5b54af29 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 1 Nov 2014 11:22:18 +0100 Subject: NSH term: Only time out if no arming information is available, if arming information is available abort if unconnected on arming --- src/systemcmds/nshterm/nshterm.c | 27 +++++++++++++++++++++++++-- 1 file changed, 25 insertions(+), 2 deletions(-) (limited to 'src/systemcmds') diff --git a/src/systemcmds/nshterm/nshterm.c b/src/systemcmds/nshterm/nshterm.c index f06c49552..edeb5c624 100644 --- a/src/systemcmds/nshterm/nshterm.c +++ b/src/systemcmds/nshterm/nshterm.c @@ -51,6 +51,8 @@ #include #include +#include + __EXPORT int nshterm_main(int argc, char *argv[]); int @@ -62,9 +64,30 @@ nshterm_main(int argc, char *argv[]) } unsigned retries = 0; int fd = -1; + int armed_fd = orb_subscribe(ORB_ID(actuator_armed)); + struct actuator_armed_s armed; + /* we assume the system does not provide arming status feedback */ + bool armed_updated = false; + + /* try the first 30 seconds or if arming system is ready */ + while ((retries < 300) || armed_updated) { + + /* abort if an arming topic is published and system is armed */ + bool updated = false; + if (orb_check(armed_fd, &updated)) { + /* the system is now providing arming status feedback. + * instead of timing out, we resort to abort bringing + * up the terminal. + */ + armed_updated = true; + orb_copy(ORB_ID(actuator_armed), armed_fd, &armed); + + if (armed.armed) { + /* this is not an error, but we are done */ + exit(0); + } + } - /* try the first 30 seconds */ - while (retries < 300) { /* the retries are to cope with the behaviour of /dev/ttyACM0 */ /* which may not be ready immediately. */ fd = open(argv[1], O_RDWR); -- cgit v1.2.3