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drivers/gps: require valid device to start

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This commit is contained in:
Daniel Agar
2021-11-10 21:31:27 -05:00
committed by Beat Küng
parent 3160e7a3cd
commit fe23718e2c
1 changed files with 14 additions and 4 deletions
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src/drivers/gps/gps.cpp
+14 -4
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@@ -1320,7 +1320,7 @@ GPS *GPS::instantiate(int argc, char *argv[])
GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
{
const char *device_name = "/dev/ttyS3";
const char *device_name = nullptr;
const char *device_name_secondary = nullptr;
int baudrate_main = 0;
int baudrate_secondary = 0;
@@ -1427,9 +1427,14 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
return nullptr;
}
GPS *gps;
GPS *gps = nullptr;
if (instance == Instance::Main) {
gps = new GPS(device_name, mode, interface, enable_sat_info, instance, baudrate_main);
if (device_name && (access(device_name, R_OK|W_OK) == 0)) {
gps = new GPS(device_name, mode, interface, enable_sat_info, instance, baudrate_main);
} else {
PX4_ERR("invalid device (-d) %s", device_name ? device_name : "");
}
if (gps && device_name_secondary) {
task_spawn(argc, argv, Instance::Secondary);
@@ -1447,7 +1452,12 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
}
}
} else { // secondary instance
gps = new GPS(device_name_secondary, mode, interface_secondary, enable_sat_info, instance, baudrate_secondary);
if (device_name_secondary && (access(device_name_secondary, R_OK|W_OK) == 0)) {
gps = new GPS(device_name_secondary, mode, interface_secondary, enable_sat_info, instance, baudrate_secondary);
} else {
PX4_ERR("invalid secondary device (-g) %s", device_name_secondary ? device_name_secondary : "");
}
}
return gps;