C++ (Cpp) sol_mavlink_free 예제들

예제 #1

파일: sol-mavlink.c 프로젝트: cmarcelo/soletta

SOL_API struct sol_mavlink *
sol_mavlink_connect(const char *addr, const struct sol_mavlink_config *config, const void *data)
{
    struct sol_mavlink *mavlink;
    struct sol_str_slice address;
    int port;

    int (*init) (struct sol_mavlink *mavlink);

    SOL_NULL_CHECK(addr, NULL);

    init = sol_mavlink_parse_addr_protocol(addr, &address, &port);
    SOL_NULL_CHECK(init, NULL);

    mavlink = calloc(1, sizeof(*mavlink));
    SOL_NULL_CHECK(mavlink, NULL);

    mavlink->address = &address;
    SOL_NULL_CHECK_GOTO(mavlink->address, err);

    mavlink->port = port;
    SOL_NULL_CHECK_GOTO(mavlink->port, err);

    mavlink->config = config;
    mavlink->data = data;

    memset(&mavlink->curr_position, 0, sizeof(mavlink->curr_position));
    memset(&mavlink->home_position, 0, sizeof(mavlink->home_position));

    if (init(mavlink) < 0) {
        SOL_ERR("Could not initialize mavlink connection.");
        goto err;
    }

    mavlink->watch = sol_fd_add(mavlink->fd, SOL_FD_FLAGS_IN,
        sol_mavlink_fd_handler, mavlink);
    SOL_NULL_CHECK_GOTO(mavlink->watch, err);

    if (!setup_data_stream(mavlink)) {
        SOL_ERR("Could not setup data stream");
        goto err;
    }

    return mavlink;

err:
    sol_mavlink_free(mavlink);
    return NULL;
}

예제 #2

파일: sol-mavlink.c 프로젝트: miaobin/soletta

SOL_API void
sol_mavlink_disconnect(struct sol_mavlink *mavlink)
{
    SOL_NULL_CHECK(mavlink);
    sol_mavlink_free(mavlink);
}

예제 #3

파일: sol-mavlink.c 프로젝트: miaobin/soletta

SOL_API struct sol_mavlink *
sol_mavlink_connect(const char *addr, const struct sol_mavlink_config *config, const void *data)
{
    struct sol_mavlink *mavlink;
    struct sol_str_slice address;
    int port;

    int (*init) (struct sol_mavlink *mavlink);

    SOL_NULL_CHECK(addr, NULL);
    SOL_NULL_CHECK(config, NULL);

#ifndef SOL_NO_API_VERSION
    if (SOL_UNLIKELY(config->api_version !=
        SOL_MAVLINK_CONFIG_API_VERSION)) {
        SOL_ERR("Unexpected API version (config is %" PRIu16 ", expected %" PRIu16 ")",
            config->api_version, SOL_MAVLINK_CONFIG_API_VERSION);
        return NULL;
    }

    SOL_NULL_CHECK(config->handlers, NULL);

    if (SOL_UNLIKELY(config->handlers->api_version !=
        SOL_MAVLINK_HANDLERS_API_VERSION)) {
        SOL_ERR("Unexpected API version (config is %" PRIu16 ", expected %" PRIu16 ")",
            config->handlers->api_version, SOL_MAVLINK_HANDLERS_API_VERSION);
        return NULL;
    }
#else
    SOL_NULL_CHECK(config->handlers, NULL);
#endif

    init = sol_mavlink_parse_addr_protocol(addr, &address, &port);
    SOL_NULL_CHECK(init, NULL);

    mavlink = calloc(1, sizeof(*mavlink));
    SOL_NULL_CHECK(mavlink, NULL);

    mavlink->address = &address;
    SOL_NULL_CHECK_GOTO(mavlink->address, err);

    mavlink->port = port;
    SOL_NULL_CHECK_GOTO(mavlink->port, err);

    mavlink->config = config;
    mavlink->data = data;

    memset(&mavlink->curr_position, 0, sizeof(mavlink->curr_position));
    memset(&mavlink->home_position, 0, sizeof(mavlink->home_position));

    if (init(mavlink) < 0) {
        SOL_ERR("Could not initialize mavlink connection.");
        goto err;
    }

    mavlink->watch = sol_fd_add(mavlink->fd, SOL_FD_FLAGS_IN,
        sol_mavlink_fd_handler, mavlink);
    SOL_NULL_CHECK_GOTO(mavlink->watch, err);

    if (!setup_data_stream(mavlink)) {
        SOL_ERR("Could not setup data stream");
        goto err;
    }

    return mavlink;

err:
    sol_mavlink_free(mavlink);
    return NULL;
}