fix pipe

isentekKevinLiu · Jul 2, 2018 · 6a31d8d · 6a31d8d
1 parent 69327cb
commit 6a31d8d
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Showing 4 changed files with 37 additions and 31 deletions.
diff --git a/conf/modules/pipe.xml b/conf/modules/pipe.xml
@@ -7,7 +7,7 @@
       Each pipe is comprised of two half-duplex fifos, one for reading from the client and one for
       writing to them.
       To activate a specific pipe peripheral, define flag USE_PIPEX_WRITER with the file path to the 
-      location where paparazzi whoudl wrtie to and USE_PIPEX_READER for the file location where
+      location where paparazzi would wrtie to and USE_PIPEX_READER for the file location where
       it should read from, where X is your pipe peripheral number.
       You can also configure the size of the incoming and outgoing buffer using PIPE_RX_BUFFER_SIZE 
       and PIPE_TX_BUFFER_SIZE

diff --git a/sw/airborne/arch/linux/mcu_periph/pipe_arch.c b/sw/airborne/arch/linux/mcu_periph/pipe_arch.c
@@ -49,13 +49,13 @@ void pipe_arch_init(void)
 {
   pthread_mutex_init(&pipe_mutex, NULL);
 
-#if USE_PIPE0_WRITER || USE_PIPE0_READER
+#if defined(USE_PIPE0_WRITER) || defined(USE_PIPE0_READER)
   PIPE0Init();
 #endif
-#if USE_PIPE1_WRITER || USE_PIPE1_READER
+#if defined(USE_PIPE1_WRITER) || defined(USE_PIPE1_READER)
   PIPE1Init();
 #endif
-#if USE_PIPE2_WRITER || USE_PIPE2_READER
+#if defined(USE_PIPE2_WRITER) || defined(USE_PIPE2_READER)
   PIPE2Init();
 #endif
 
@@ -203,22 +203,28 @@ static void *pipe_thread(void *data __attribute__((unused)))
   FD_ZERO(&fds_master);
   /* add used file descriptors */
   int fd __attribute__((unused));
-#if USE_PIPE0_READER
-  FD_SET(pipe0.fd_read, &fds_master);
-  if (pipe0.fd_read > fdmax) {
-    fdmax = pipe0.fd_read;
+#ifdef USE_PIPE0_READER
+  if (pipe0.fd_read >= 0){
+    FD_SET(pipe0.fd_read, &fds_master);
+    if (pipe0.fd_read > fdmax) {
+      fdmax = pipe0.fd_read;
+    }
   }
 #endif
-#if USE_PIPE1_READER
-  FD_SET(pipe1.fd_read, &socks_master);
-  if (pipe1.fd_read > fdmax) {
-    fdmax = pipe1.fd_read;
+#ifdef USE_PIPE1_READER
+  if(pipe1.fd_read >= 0){
+    FD_SET(pipe1.fd_read, &socks_master);
+    if (pipe1.fd_read > fdmax) {
+      fdmax = pipe1.fd_read;
+    }
   }
 #endif
-#if USE_PIPE2_READER
-  FD_SET(pipe2.fd_read, &socks_master);
-  if (pipe2.fd_read > fdmax) {
-    fdmax = pipe2.fd_read;
+#ifdef USE_PIPE2_READER
+  if(pipe2.fd_read >= 0){
+    FD_SET(pipe2.fd_read, &socks_master);
+    if (pipe2.fd_read > fdmax) {
+      fdmax = pipe2.fd_read;
+    }
   }
 #endif
 
@@ -232,17 +238,17 @@ static void *pipe_thread(void *data __attribute__((unused)))
     if (select(fdmax + 1, &fds, NULL, NULL, NULL) < 0) {
       fprintf(stderr, "pipe_thread: select failed!");
     } else {
-#if USE_PIPE0_READER
+#ifdef USE_PIPE0_READER
       if (FD_ISSET(pipe0.fd_read, &fds)) {
         pipe_receive(&pipe0);
       }
 #endif
-#if USE_PIPE1_READER
+#ifdef USE_PIPE1_READER
        if (FD_ISSET(pipe1.fd_read, &fds)) {
         pipe_receive(&pipe1);
       }
 #endif
-#if USE_PIPE2_READER
+#ifdef USE_PIPE2_READER
        if (FD_ISSET(pipe2.fd_read, &fds)) {
         pipe_receive(&pipe2);
       }

diff --git a/sw/airborne/mcu_periph/pipe.c b/sw/airborne/mcu_periph/pipe.c
@@ -30,39 +30,39 @@
 #include <string.h>
 
 /* Print the configurations */
-#if USE_PIPE0_WRITER || USE_PIPE0_READER
+#if defined(USE_PIPE0_WRITER) || defined(USE_PIPE0_READER)
 struct pipe_periph pipe0;
 #endif
 
-#if USE_PIPE0_WRITER
+#ifdef USE_PIPE0_WRITER
 PRINT_CONFIG_VAR(USE_PIPE0_WRITER)
 #endif
 
-#if USE_PIPE0_READER
+#ifdef USE_PIPE0_READER
 PRINT_CONFIG_VAR(USE_PIPE0_READER)
 #endif
 
-#if USE_PIPE1_WRITER || USE_PIPE1_READER
+#if defined(USE_PIPE1_WRITER) || defined(USE_PIPE1_READER)
 struct pipe_periph pipe1;
 #endif
 
-#if USE_PIPE1_WRITER
+#ifdef USE_PIPE1_WRITER
 PRINT_CONFIG_VAR(USE_PIPE1_WRITER)
 #endif
 
-#if USE_PIPE1_READER
+#ifdef USE_PIPE1_READER
 PRINT_CONFIG_VAR(USE_PIPE1_READER)
 #endif
 
-#if USE_PIPE2_WRITER || USE_PIPE2_READER
+#if defined(USE_PIPE2_WRITER) || defined(USE_PIPE2_READER)
 struct pipe_periph pipe2;
 #endif
 
-#if USE_PIPE2_WRITER
+#ifdef USE_PIPE2_WRITER
 PRINT_CONFIG_VAR(USE_PIPE2_WRITER)
 #endif
 
-#if USE_PIPE2_READER
+#ifdef USE_PIPE2_READER
 PRINT_CONFIG_VAR(USE_PIPE2_READER)
 #endif
 

diff --git a/sw/airborne/mcu_periph/pipe.h b/sw/airborne/mcu_periph/pipe.h
@@ -59,7 +59,7 @@ extern bool     pipe_check_free_space(struct pipe_periph *p, long *fd, uint16_t
 extern void     pipe_put_byte(struct pipe_periph *p, long fd, uint8_t data);
 extern void     pipe_put_buffer(struct pipe_periph *p, long fd, const uint8_t *data,uint16_t len);
 
-#if USE_PIPE0_WRITER || USE_PIPE0_READER
+#if defined(USE_PIPE0_WRITER) || defined(USE_PIPE0_READER)
 extern struct pipe_periph pipe0;
 
 #ifndef USE_PIPE0_WRITER
@@ -73,7 +73,7 @@ extern struct pipe_periph pipe0;
 #define PIPE0Init() pipe_periph_init(&pipe0, STRINGIFY(USE_PIPE0_READER), STRINGIFY(USE_PIPE0_WRITER))
 #endif // USE_PIPE0
 
-#if USE_PIPE1_WRITER || USE_PIPE1_READER
+#if defined(USE_PIPE1_WRITER) || defined(USE_PIPE1_READER)
 extern struct pipe_periph pipe1;
 
 #ifndef USE_PIPE1_WRITER
@@ -87,7 +87,7 @@ extern struct pipe_periph pipe1;
 #define PIPE1Init() pipe_periph_init(&pipe1, STRINGIFY(USE_PIPE1_READER), STRINGIFY(USE_PIPE1_WRITER))
 #endif // USE_PIPE1
 
-#if USE_PIPE2_WRITER || USE_PIPE2_READER
+#if defined(USE_PIPE2_WRITER) || defined(USE_PIPE2_READER)
 extern struct pipe_periph pipe2;
 
 #ifndef USE_PIPE2_WRITER