diff options
Diffstat (limited to 'src/examples/px4_daemon_app/px4_daemon_app.c')
| -rw-r--r-- | src/examples/px4_daemon_app/px4_daemon_app.c | 54 |
1 files changed, 29 insertions, 25 deletions
diff --git a/src/examples/px4_daemon_app/px4_daemon_app.c b/src/examples/px4_daemon_app/px4_daemon_app.c index fbb38e4b9..53f1b4a9a 100644 --- a/src/examples/px4_daemon_app/px4_daemon_app.c +++ b/src/examples/px4_daemon_app/px4_daemon_app.c @@ -1,7 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: @author Example User <mail@example.com> + * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -33,27 +32,33 @@ ****************************************************************************/ /** - * @file px4_deamon_app.c - * Deamon application example for PX4 autopilot + * @file px4_daemon_app.c + * daemon application example for PX4 autopilot + * + * @author Example User <mail@example.com> */ #include <nuttx/config.h> +#include <nuttx/sched.h> #include <unistd.h> #include <stdio.h> -static bool thread_should_exit = false; /**< Deamon exit flag */ -static bool thread_running = false; /**< Deamon status flag */ -static int deamon_task; /**< Handle of deamon task / thread */ +#include <systemlib/systemlib.h> +#include <systemlib/err.h> + +static bool thread_should_exit = false; /**< daemon exit flag */ +static bool thread_running = false; /**< daemon status flag */ +static int daemon_task; /**< Handle of daemon task / thread */ /** - * Deamon management function. + * daemon management function. */ -__EXPORT int px4_deamon_app_main(int argc, char *argv[]); +__EXPORT int px4_daemon_app_main(int argc, char *argv[]); /** - * Mainloop of deamon. + * Mainloop of daemon. */ -int px4_deamon_thread_main(int argc, char *argv[]); +int px4_daemon_thread_main(int argc, char *argv[]); /** * Print the correct usage. @@ -64,20 +69,19 @@ static void usage(const char *reason) { if (reason) - fprintf(stderr, "%s\n", reason); - fprintf(stderr, "usage: deamon {start|stop|status} [-p <additional params>]\n\n"); - exit(1); + warnx("%s\n", reason); + errx(1, "usage: daemon {start|stop|status} [-p <additional params>]\n\n"); } /** - * The deamon app only briefly exists to start + * The daemon app only briefly exists to start * the background job. The stack size assigned in the * Makefile does only apply to this management task. * * The actual stack size should be set in the call * to task_create(). */ -int px4_deamon_app_main(int argc, char *argv[]) +int px4_daemon_app_main(int argc, char *argv[]) { if (argc < 1) usage("missing command"); @@ -85,17 +89,17 @@ int px4_deamon_app_main(int argc, char *argv[]) if (!strcmp(argv[1], "start")) { if (thread_running) { - printf("deamon already running\n"); + warnx("daemon already running\n"); /* this is not an error */ exit(0); } thread_should_exit = false; - deamon_task = task_spawn_cmd("deamon", + daemon_task = task_spawn_cmd("daemon", SCHED_DEFAULT, SCHED_PRIORITY_DEFAULT, 4096, - px4_deamon_thread_main, + px4_daemon_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL); exit(0); } @@ -107,9 +111,9 @@ int px4_deamon_app_main(int argc, char *argv[]) if (!strcmp(argv[1], "status")) { if (thread_running) { - printf("\tdeamon app is running\n"); + warnx("\trunning\n"); } else { - printf("\tdeamon app not started\n"); + warnx("\tnot started\n"); } exit(0); } @@ -118,18 +122,18 @@ int px4_deamon_app_main(int argc, char *argv[]) exit(1); } -int px4_deamon_thread_main(int argc, char *argv[]) { +int px4_daemon_thread_main(int argc, char *argv[]) { - printf("[deamon] starting\n"); + warnx("[daemon] starting\n"); thread_running = true; while (!thread_should_exit) { - printf("Hello Deamon!\n"); + warnx("Hello daemon!\n"); sleep(10); } - printf("[deamon] exiting.\n"); + warnx("[daemon] exiting.\n"); thread_running = false; |