UAVCAN driver silently ignores repeated start commands without error. This allows to avoid error messages when UAVCAN driver is started from extras script before default initialization sequence is executed.

pavel-kirienko · pavel-kirienko · commit 3f961bf3c60c · 2015-04-23T22:02:34.000+03:00
diff --git a/src/modules/uavcan/uavcan_main.cpp b/src/modules/uavcan/uavcan_main.cpp
@@ -698,7 +698,9 @@ int uavcan_main(int argc, char *argv[])
 
 	if (!std::strcmp(argv[1], "start")) {
 		if (UavcanNode::instance()) {
-			errx(1, "already started");
+			// Already running, no error
+			warnx("already started");
+			::exit(0);
 		}
 
 		// Node ID

Original file line number	Diff line number	Diff line change
`@@ -698,7 +698,9 @@ int uavcan_main(int argc, char *argv[])`
`698`	`698`
`699`	`699`	`if (!std::strcmp(argv[1], "start")) {`
`700`	`700`	`if (UavcanNode::instance()) {`
`701`		`- errx(1, "already started");`
	`701`	`+ // Already running, no error`
	`702`	`+ warnx("already started");`
	`703`	`+ ::exit(0);`
`702`	`704`	`}`
`703`	`705`
`704`	`706`	`// Node ID`