publisher: move nuttx startup handling

3 files changed, 102 insertions, 59 deletions

diff --git a/src/examples/publisher/module.mk b/src/examples/publisher/module.mk
index 4f941cd43..62a5f8dd1 100644
--- a/src/examples/publisher/module.mk
+++ b/src/examples/publisher/module.mk
@@ -38,6 +38,7 @@
 MODULE_COMMAND	= publisher
 
 SRCS		= publisher_main.cpp \
+		  publisher_start_nuttx.cpp \
 		  publisher_example.cpp
 
 MODULE_STACKSIZE = 1200
diff --git a/src/examples/publisher/publisher_main.cpp b/src/examples/publisher/publisher_main.cpp
index 81439a8be..85d24d4ef 100644
--- a/src/examples/publisher/publisher_main.cpp
+++ b/src/examples/publisher/publisher_main.cpp
@@ -41,66 +41,9 @@
 #include <cstdlib>
 #include "publisher_example.h"
 
-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(publisher);
-
-#if !defined(__PX4_ROS)
-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,
-				       publisher_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
+bool thread_running = false;     /**< Deamon status flag */
 
-PX4_MAIN_FUNCTION(publisher)
+int main(int argc, char **argv)
 {
 	px4::init(argc, argv, "publisher");
 
diff --git a/src/examples/publisher/publisher_start_nuttx.cpp b/src/examples/publisher/publisher_start_nuttx.cpp
new file mode 100644
index 000000000..db9d85269
--- /dev/null
+++ b/src/examples/publisher/publisher_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 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;
+}