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author | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-23 18:00:59 +0100 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-23 18:00:59 +0100 |
commit | dfd078651f44533b2f5998b0edce781b11507275 (patch) | |
tree | 0a59724f1f282ef1728748b0558b1394cef987b1 | |
parent | 6357fa75976a1d215d263b316d7fe495b82cfff4 (diff) | |
download | px4-firmware-dfd078651f44533b2f5998b0edce781b11507275.tar.gz px4-firmware-dfd078651f44533b2f5998b0edce781b11507275.tar.bz2 px4-firmware-dfd078651f44533b2f5998b0edce781b11507275.zip |
subscriber: move nuttx startup handling
-rw-r--r-- | src/examples/subscriber/module.mk | 1 | ||||
-rw-r--r-- | src/examples/subscriber/subscriber_main.cpp | 63 | ||||
-rw-r--r-- | src/examples/subscriber/subscriber_start_nuttx.cpp | 99 |
3 files changed, 102 insertions, 61 deletions
diff --git a/src/examples/subscriber/module.mk b/src/examples/subscriber/module.mk index 3156ebb30..0e02c65b4 100644 --- a/src/examples/subscriber/module.mk +++ b/src/examples/subscriber/module.mk @@ -38,6 +38,7 @@ MODULE_COMMAND = subscriber SRCS = subscriber_main.cpp \ + subscriber_start_nuttx.cpp \ subscriber_example.cpp \ subscriber_params.c diff --git a/src/examples/subscriber/subscriber_main.cpp b/src/examples/subscriber/subscriber_main.cpp index 906921e01..9752bc3cc 100644 --- a/src/examples/subscriber/subscriber_main.cpp +++ b/src/examples/subscriber/subscriber_main.cpp @@ -37,70 +37,11 @@ * * @author Thomas Gubler <thomasgubler@gmail.com> */ -#include <string.h> -#include <cstdlib> #include "subscriber_example.h" +bool thread_running = false; /**< Deamon status flag */ -static bool thread_running = false; /**< Deamon status flag */ -static int daemon_task; /**< Handle of deamon task / thread */ -namespace px4 -{ -bool task_should_exit = false; -} -using namespace px4; - -PX4_MAIN_FUNCTION(subscriber); - -#if !defined(__PX4_ROS) -extern "C" __EXPORT int subscriber_main(int argc, char *argv[]); -int subscriber_main(int argc, char *argv[]) -{ - if (argc < 1) { - errx(1, "usage: subscriber {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("subscriber", - SCHED_DEFAULT, - SCHED_PRIORITY_MAX - 5, - 2000, - subscriber_task_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; -} -#endif -PX4_MAIN_FUNCTION(subscriber) +int main(int argc, char **argv) { px4::init(argc, argv, "subscriber"); diff --git a/src/examples/subscriber/subscriber_start_nuttx.cpp b/src/examples/subscriber/subscriber_start_nuttx.cpp new file mode 100644 index 000000000..6129b19ac --- /dev/null +++ b/src/examples/subscriber/subscriber_start_nuttx.cpp @@ -0,0 +1,99 @@ +/**************************************************************************** + * + * 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 subscriber_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 subscriber_main(int argc, char *argv[]); +int subscriber_main(int argc, char *argv[]) +{ + if (argc < 1) { + errx(1, "usage: subscriber {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("subscriber", + 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; +} |