Changeset 313 in flair-src

Timestamp:

Mar 21, 2019, 11:30:17 AM (6 years ago)

Author:

Sanahuja Guillaume

Message:

maj thread

Location:

trunk/lib

Files:

• FlairCore/src/FrameworkManager_impl.cpp (modified) (1 diff)
• FlairCore/src/Thread.cpp (modified) (1 diff)
• FlairMeta/src/UavStateMachine.cpp (modified) (1 diff)
• FlairMeta/src/UavStateMachine.h (modified) (2 diffs)

trunk/lib/FlairCore/src/FrameworkManager_impl.cpp

@@ -152 +152 @@
   SafeStop();
   Join();
+  
+  if(gcs_watchdog!=NULL) gcs_watchdog->SafeStop();
 
   if (rcv_buf != NULL)

trunk/lib/FlairCore/src/Thread.cpp

@@ -127 +127 @@
   //usleep(time);
   struct timespec req;
-  req.tv_sec = (Time)time / (Time)1000;
-  req.tv_nsec = (Time)time%(Time)1000;
+  req.tv_sec = (Time)time / (Time)1000000;
+  req.tv_nsec = ((Time)time%(Time)1000000)*((Time)1000);
   struct timespec rem;
   if(nanosleep(&req,&rem)!=0) Err("error in nanosleep\n");//todo, handle EINTR

trunk/lib/FlairMeta/src/UavStateMachine.cpp

@@ -124 +124 @@
 }
 
-const TargetController *UavStateMachine::GetJoystick(void) const {
+const TargetController *UavStateMachine::GetTargetController(void) const {
     return controller;
+}
+
+MetaDualShock3 *UavStateMachine::GetJoystick(void) const {
+    return joy;
 }
 

trunk/lib/FlairMeta/src/UavStateMachine.h

@@ -226 +226 @@
   void AddDataToControlLawLog(const core::io_data *data);
 
-  const sensor::TargetController *GetJoystick(void) const;
-  MetaDualShock3 *joy;
+  const sensor::TargetController *GetTargetController(void) const;
+  MetaDualShock3 *GetJoystick(void) const;
   
   filter::NestedSat *GetURoll(void);
@@ -269 +269 @@
   bool IsValuePossible(float value,std::string desc);
 
-  meta::Uav *uav;
+  Uav *uav;
+  MetaDualShock3 *joy;
   sensor::TargetController *controller;