Ejemplo n.º 1
0
void MavlinkSerial::async_write_end(const boost::system::error_code &error, std::size_t bytes_transferred)
{
  if (error)
  {
    close();
    return;
  }

  mutex_lock lock(mutex_);
  if (write_queue_.empty())
  {
    write_in_progress_ = false;
    return;
  }

  WriteBuffer *buffer = write_queue_.front();
  buffer->pos += bytes_transferred;
  if (buffer->nbytes() == 0)
  {
    write_queue_.pop_front();
    delete buffer;
  }

  if (write_queue_.empty())
    write_in_progress_ = false;
  else
    do_async_write(false);
}
Ejemplo n.º 2
0
void MavlinkSerial::do_async_write(bool check_write_state)
{
  if (check_write_state && write_in_progress_)
    return;

  mutex_lock lock(mutex_);
  if (write_queue_.empty())
    return;

  write_in_progress_ = true;
  WriteBuffer *buffer = write_queue_.front();
  serial_port_.async_write_some(
        boost::asio::buffer(buffer->dpos(), buffer->nbytes()),
        boost::bind(
          &MavlinkSerial::async_write_end,
          this,
          boost::asio::placeholders::error,
          boost::asio::placeholders::bytes_transferred));

}