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/****************************************************************************
*
* Copyright (C) 2014 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
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file publisher_start_nuttx.cpp
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include <string.h>
#include <cstdlib>
#include <systemlib/err.h>
#include <systemlib/systemlib.h>
extern bool thread_running;
int daemon_task; /**< Handle of deamon task / thread */
namespace px4
{
bool task_should_exit = false;
}
using namespace px4;
extern int main(int argc, char **argv);
extern "C" __EXPORT int publisher_main(int argc, char *argv[]);
int publisher_main(int argc, char *argv[])
{
if (argc < 1) {
errx(1, "usage: publisher {start|stop|status}");
}
if (!strcmp(argv[1], "start")) {
if (thread_running) {
warnx("already running");
/* this is not an error */
exit(0);
}
task_should_exit = false;
daemon_task = task_spawn_cmd("publisher",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
2000,
main,
(argv) ? (char * const *)&argv[2] : (char * const *)NULL);
exit(0);
}
if (!strcmp(argv[1], "stop")) {
task_should_exit = true;
exit(0);
}
if (!strcmp(argv[1], "status")) {
if (thread_running) {
warnx("is running");
} else {
warnx("not started");
}
exit(0);
}
warnx("unrecognized command");
return 1;
}
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