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Code Issues Releases Activity

Fixed changes to UAVTalkProcessInputStream.

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This commit is contained in:
Brian Webb 2012-04-21 16:54:35 -07:00
parent a6f83ee963
commit 5a2a3ad49b
1 changed files with 12 additions and 15 deletions
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27
flight/UAVTalk/uavtalk.c
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@ -261,13 +261,13 @@ UAVTalkRxState UAVTalkProcessInputStream(UAVTalkConnection connectionHandle, uin
UAVTalkInputProcessor *iproc = &connection->iproc;
++connection->stats.rxBytes;
if (iproc->rxPacketLength < 0xffff)
iproc->rxPacketLength++; // update packet byte count
if (iproc->state == UAVTALK_STATE_ERROR || iproc->state == UAVTALK_STATE_COMPLETE)
iproc->state = UAVTALK_STATE_SYNC;
if (iproc->rxPacketLength < 0xffff)
iproc->rxPacketLength++; // update packet byte count
// Receive state machine
switch (iproc->state)
{
@ -336,7 +336,8 @@ UAVTalkRxState UAVTalkProcessInputStream(UAVTalkConnection connectionHandle, uin
if (iproc->rxCount < 4)
break;
// Search for object.
iproc->obj = UAVObjGetByID(iproc->objId);
// Determine data length
@ -381,24 +382,21 @@ UAVTalkRxState UAVTalkProcessInputStream(UAVTalkConnection connectionHandle, uin
{
// If this is a NACK, we skip to Checksum
iproc->state = UAVTALK_STATE_CS;
iproc->rxCount = 0;
}
// Check if this is a single instance object (i.e. if the instance ID field is coming next)
else if ((iproc->obj == 0) || !UAVObjIsSingleInstance(iproc->obj))
else if ((iproc->obj != 0) && !UAVObjIsSingleInstance(iproc->obj))
{
iproc->state = UAVTALK_STATE_INSTID;
}
else
{
// If there is a payload get it, otherwise receive checksum
if (iproc->length > 0)
iproc->state = UAVTALK_STATE_DATA;
else
iproc->state = UAVTALK_STATE_CS;
iproc->rxCount = 0;
}
else
{
iproc->state = UAVTALK_STATE_INSTID;
iproc->rxCount = 0;
}
iproc->rxCount = 0;
break;
@ -451,7 +449,7 @@ UAVTalkRxState UAVTalkProcessInputStream(UAVTalkConnection connectionHandle, uin
iproc->state = UAVTALK_STATE_ERROR;
break;
}
if (iproc->obj)
{
xSemaphoreTakeRecursive(connection->lock, portMAX_DELAY);
@ -467,7 +465,6 @@ UAVTalkRxState UAVTalkProcessInputStream(UAVTalkConnection connectionHandle, uin
default:
connection->stats.rxErrors++;
iproc->state = UAVTALK_STATE_ERROR;
break;
}
// Done