diff options
Diffstat (limited to 'src/examples/jetdrive_control/jetdrive_control_main.cpp')
| -rw-r--r-- | src/examples/jetdrive_control/jetdrive_control_main.cpp | 707 |
1 files changed, 0 insertions, 707 deletions
diff --git a/src/examples/jetdrive_control/jetdrive_control_main.cpp b/src/examples/jetdrive_control/jetdrive_control_main.cpp deleted file mode 100644 index bb72f14e0..000000000 --- a/src/examples/jetdrive_control/jetdrive_control_main.cpp +++ /dev/null @@ -1,707 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved. - * Author: @author Tobias Naegeli <naegelit@student.ethz.ch> - * @author Lorenz Meier <lm@inf.ethz.ch> - * @author Anton Babushkin <anton.babushkin@me.com> - * - * 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 mc_att_control_main.c - * Multicopter attitude controller. - * - * The controller has two loops: P loop for angular error and PD loop for angular rate error. - * Desired rotation calculated keeping in mind that yaw response is normally slower than roll/pitch. - * For small deviations controller rotates copter to have shortest path of thrust vector and independently rotates around yaw, - * so actual rotation axis is not constant. For large deviations controller rotates copter around fixed axis. - * These two approaches fused seamlessly with weight depending on angular error. - * When thrust vector directed near-horizontally (e.g. roll ~= PI/2) yaw setpoint ignored because of singularity. - * Controller doesn't use Euler angles for work, they generated only for more human-friendly control and logging. - * If rotation matrix setpoint is invalid it will be generated from Euler angles for compatibility with old position controllers. - */ - -#include "jetdrive_control.h" - - - -JetdriveControl::JetdriveControl() : - - _task_should_exit(false), - _control_task(-1), - -/* subscriptions */ - _v_att_sub(-1), - _v_att_sp_sub(-1), - _v_control_mode_sub(-1), - _params_sub(-1), - _manual_control_sp_sub(-1), - _armed_sub(-1), - -/* publications */ - _att_sp_pub(-1), - _v_rates_sp_pub(-1), - _actuators_0_pub(-1), - -/* performance counters */ - _loop_perf(perf_alloc(PC_ELAPSED, "fw att control")) - -{ - memset(&_v_att, 0, sizeof(_v_att)); - memset(&_v_att_sp, 0, sizeof(_v_att_sp)); - memset(&_manual_control_sp, 0, sizeof(_manual_control_sp)); - memset(&_v_control_mode, 0, sizeof(_v_control_mode)); - memset(&_armed, 0, sizeof(_armed)); - - _params.att_p.zero(); - _params.rate_p.zero(); - _params.rate_i.zero(); - _params.rate_d.zero(); - - _R_sp.identity(); - _R.identity(); - _rates_prev.zero(); - _rates_sp.zero(); - _rates_int.zero(); - _thrust_sp = 0.0f; - _att_control.zero(); - - I.identity(); - - _params_handles.roll_p = param_find("JC_ROLL_P"); - _params_handles.roll_rate_p = param_find("JC_ROLLRATE_P"); - _params_handles.roll_rate_i = param_find("JC_ROLLRATE_I"); - _params_handles.roll_rate_d = param_find("JC_ROLLRATE_D"); - _params_handles.pitch_p = param_find("JC_PITCH_P"); - _params_handles.pitch_rate_p = param_find("JC_PITCHRATE_P"); - _params_handles.pitch_rate_i = param_find("JC_PITCHRATE_I"); - _params_handles.pitch_rate_d = param_find("JC_PITCHRATE_D"); - _params_handles.yaw_p = param_find("JC_YAW_P"); - _params_handles.yaw_rate_p = param_find("JC_YAWRATE_P"); - _params_handles.yaw_rate_i = param_find("JC_YAWRATE_I"); - _params_handles.yaw_rate_d = param_find("JC_YAWRATE_D"); - _params_handles.yaw_ff = param_find("JC_YAW_FF"); - - _params_handles.rc_scale_yaw = param_find("RC_SCALE_YAW"); - - /* fetch initial parameter values */ - parameters_update(); -} - -JetdriveControl::~JetdriveControl() -{ - if (_control_task != -1) { - /* task wakes up every 100ms or so at the longest */ - _task_should_exit = true; - - /* wait for a second for the task to quit at our request */ - unsigned i = 0; - - do { - /* wait 20ms */ - usleep(20000); - - /* if we have given up, kill it */ - if (++i > 50) { - task_delete(_control_task); - break; - } - } while (_control_task != -1); - } - - jetdrive_control::g_control = nullptr; -} - -int -JetdriveControl::parameters_update() -{ - float v; - - /* roll */ - param_get(_params_handles.roll_p, &v); - _params.att_p(0) = v; - param_get(_params_handles.roll_rate_p, &v); - _params.rate_p(0) = v; - param_get(_params_handles.roll_rate_i, &v); - _params.rate_i(0) = v; - param_get(_params_handles.roll_rate_d, &v); - _params.rate_d(0) = v; - - /* pitch */ - param_get(_params_handles.pitch_p, &v); - _params.att_p(1) = v; - param_get(_params_handles.pitch_rate_p, &v); - _params.rate_p(1) = v; - param_get(_params_handles.pitch_rate_i, &v); - _params.rate_i(1) = v; - param_get(_params_handles.pitch_rate_d, &v); - _params.rate_d(1) = v; - - /* yaw */ - param_get(_params_handles.yaw_p, &v); - _params.att_p(2) = v; - param_get(_params_handles.yaw_rate_p, &v); - _params.rate_p(2) = v; - param_get(_params_handles.yaw_rate_i, &v); - _params.rate_i(2) = v; - param_get(_params_handles.yaw_rate_d, &v); - _params.rate_d(2) = v; - - param_get(_params_handles.yaw_ff, &_params.yaw_ff); - - param_get(_params_handles.rc_scale_yaw, &_params.rc_scale_yaw); - - return OK; -} - -void -JetdriveControl::parameter_update_poll() -{ - bool updated; - - /* Check HIL state if vehicle status has changed */ - orb_check(_params_sub, &updated); - - if (updated) { - struct parameter_update_s param_update; - orb_copy(ORB_ID(parameter_update), _params_sub, ¶m_update); - parameters_update(); - } -} - -void -JetdriveControl::vehicle_control_mode_poll() -{ - bool updated; - - /* Check HIL state if vehicle status has changed */ - orb_check(_v_control_mode_sub, &updated); - - if (updated) { - orb_copy(ORB_ID(vehicle_control_mode), _v_control_mode_sub, &_v_control_mode); - } -} - -void -JetdriveControl::vehicle_manual_poll() -{ - bool updated; - - /* get pilots inputs */ - orb_check(_manual_control_sp_sub, &updated); - - if (updated) { - - orb_copy(ORB_ID(manual_control_setpoint), _manual_control_sp_sub, &_manual_control_sp); - } -} - -void -JetdriveControl::vehicle_attitude_setpoint_poll() -{ - /* check if there is a new setpoint */ - bool updated; - orb_check(_v_att_sp_sub, &updated); - - if (updated) { - orb_copy(ORB_ID(vehicle_attitude_setpoint), _v_att_sp_sub, &_v_att_sp); - } -} - -void -JetdriveControl::vehicle_rates_setpoint_poll() -{ - /* check if there is a new setpoint */ - bool updated; - orb_check(_v_rates_sp_sub, &updated); - - if (updated) { - orb_copy(ORB_ID(vehicle_rates_setpoint), _v_rates_sp_sub, &_v_rates_sp); - } -} - -void -JetdriveControl::arming_status_poll() -{ - /* check if there is a new setpoint */ - bool updated; - orb_check(_armed_sub, &updated); - - if (updated) { - orb_copy(ORB_ID(actuator_armed), _armed_sub, &_armed); - } -} - -/* - * Attitude controller. - * Input: 'manual_control_setpoint' and 'vehicle_attitude_setpoint' topics (depending on mode) - * Output: '_rates_sp' vector, '_thrust_sp', 'vehicle_attitude_setpoint' topic (for manual modes) - */ -void -JetdriveControl::control_attitude(float dt) -{ - float yaw_sp_move_rate = 0.0f; - bool publish_att_sp = false; - - if (_v_control_mode.flag_control_manual_enabled) { - /* manual input, set or modify attitude setpoint */ - - if (_v_control_mode.flag_control_velocity_enabled || _v_control_mode.flag_control_climb_rate_enabled) { - /* in assisted modes poll 'vehicle_attitude_setpoint' topic and modify it */ - vehicle_attitude_setpoint_poll(); - } - - if (!_v_control_mode.flag_control_climb_rate_enabled) { - /* pass throttle directly if not in altitude stabilized mode */ - _v_att_sp.thrust = _manual_control_sp.throttle; - publish_att_sp = true; - } - - if (!_armed.armed) { - /* reset yaw setpoint when disarmed */ - _reset_yaw_sp = true; - } - - /* move yaw setpoint in all modes */ - if (_v_att_sp.thrust < 0.1f) { - // TODO - //if (_status.condition_landed) { - /* reset yaw setpoint if on ground */ - // reset_yaw_sp = true; - //} - } else { - float yaw_dz_scaled = YAW_DEADZONE * _params.rc_scale_yaw; - - if (_params.rc_scale_yaw > 0.001f && fabs(_manual_control_sp.yaw) > yaw_dz_scaled) { - /* move yaw setpoint */ - yaw_sp_move_rate = _manual_control_sp.yaw / _params.rc_scale_yaw; - - if (_manual_control_sp.yaw > 0.0f) { - yaw_sp_move_rate -= YAW_DEADZONE; - - } else { - yaw_sp_move_rate += YAW_DEADZONE; - } - - yaw_sp_move_rate *= _params.rc_scale_yaw; - _v_att_sp.yaw_body = _wrap_pi(_v_att_sp.yaw_body + yaw_sp_move_rate * dt); - _v_att_sp.R_valid = false; - publish_att_sp = true; - } - } - - /* reset yaw setpint to current position if needed */ - if (_reset_yaw_sp) { - _reset_yaw_sp = false; - _v_att_sp.yaw_body = _v_att.yaw; - _v_att_sp.R_valid = false; - publish_att_sp = true; - } - - if (!_v_control_mode.flag_control_velocity_enabled) { - /* update attitude setpoint if not in position control mode */ - _v_att_sp.roll_body = _manual_control_sp.roll; - _v_att_sp.pitch_body = _manual_control_sp.pitch; - _v_att_sp.R_valid = false; - publish_att_sp = true; - } - - } else { - /* in non-manual mode use 'vehicle_attitude_setpoint' topic */ - vehicle_attitude_setpoint_poll(); - - /* reset yaw setpoint after non-manual control mode */ - _reset_yaw_sp = true; - } - - _thrust_sp = _v_att_sp.thrust; - - /* construct attitude setpoint rotation matrix */ - if (_v_att_sp.R_valid) { - /* rotation matrix in _att_sp is valid, use it */ - _R_sp.set(&_v_att_sp.R_body[0][0]); - - } else { - /* rotation matrix in _att_sp is not valid, use euler angles instead */ - _R_sp.from_euler(_v_att_sp.roll_body, _v_att_sp.pitch_body, _v_att_sp.yaw_body); - - /* copy rotation matrix back to setpoint struct */ - memcpy(&_v_att_sp.R_body[0][0], &_R_sp.data[0][0], sizeof(_v_att_sp.R_body)); - _v_att_sp.R_valid = true; - } - - /* publish the attitude setpoint if needed */ - if (publish_att_sp) { - _v_att_sp.timestamp = hrt_absolute_time(); - - if (_att_sp_pub > 0) { - orb_publish(ORB_ID(vehicle_attitude_setpoint), _att_sp_pub, &_v_att_sp); - - } else { - _att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &_v_att_sp); - } - } - - /* rotation matrix for current state */ - _R.set(_v_att.R); - - /* all input data is ready, run controller itself */ - - /* try to move thrust vector shortest way, because yaw response is slower than roll/pitch */ - math::Vector<3> R_z(_R(0, 2), _R(1, 2), _R(2, 2)); - math::Vector<3> R_sp_z(_R_sp(0, 2), _R_sp(1, 2), _R_sp(2, 2)); - - /* axis and sin(angle) of desired rotation */ - math::Vector<3> e_R = _R.transposed() * (R_z % R_sp_z); - - /* calculate angle error */ - float e_R_z_sin = e_R.length(); - float e_R_z_cos = R_z * R_sp_z; - - /* calculate weight for yaw control */ - float yaw_w = _R_sp(2, 2) * _R_sp(2, 2); - - /* calculate rotation matrix after roll/pitch only rotation */ - math::Matrix<3, 3> R_rp; - - if (e_R_z_sin > 0.0f) { - /* get axis-angle representation */ - float e_R_z_angle = atan2f(e_R_z_sin, e_R_z_cos); - math::Vector<3> e_R_z_axis = e_R / e_R_z_sin; - - e_R = e_R_z_axis * e_R_z_angle; - - /* cross product matrix for e_R_axis */ - math::Matrix<3, 3> e_R_cp; - e_R_cp.zero(); - e_R_cp(0, 1) = -e_R_z_axis(2); - e_R_cp(0, 2) = e_R_z_axis(1); - e_R_cp(1, 0) = e_R_z_axis(2); - e_R_cp(1, 2) = -e_R_z_axis(0); - e_R_cp(2, 0) = -e_R_z_axis(1); - e_R_cp(2, 1) = e_R_z_axis(0); - - /* rotation matrix for roll/pitch only rotation */ - R_rp = _R * (I + e_R_cp * e_R_z_sin + e_R_cp * e_R_cp * (1.0f - e_R_z_cos)); - - } else { - /* zero roll/pitch rotation */ - R_rp = _R; - } - - /* R_rp and _R_sp has the same Z axis, calculate yaw error */ - math::Vector<3> R_sp_x(_R_sp(0, 0), _R_sp(1, 0), _R_sp(2, 0)); - math::Vector<3> R_rp_x(R_rp(0, 0), R_rp(1, 0), R_rp(2, 0)); - e_R(2) = atan2f((R_rp_x % R_sp_x) * R_sp_z, R_rp_x * R_sp_x) * yaw_w; - - if (e_R_z_cos < 0.0f) { - /* for large thrust vector rotations use another rotation method: - * calculate angle and axis for R -> R_sp rotation directly */ - math::Quaternion q; - q.from_dcm(_R.transposed() * _R_sp); - math::Vector<3> e_R_d = q.imag(); - e_R_d.normalize(); - e_R_d *= 2.0f * atan2f(e_R_d.length(), q(0)); - - /* use fusion of Z axis based rotation and direct rotation */ - float direct_w = e_R_z_cos * e_R_z_cos * yaw_w; - e_R = e_R * (1.0f - direct_w) + e_R_d * direct_w; - } - - /* calculate angular rates setpoint */ - _rates_sp = _params.att_p.emult(e_R); - - /* feed forward yaw setpoint rate */ - _rates_sp(2) += yaw_sp_move_rate * yaw_w * _params.yaw_ff; -} - -/* - * Attitude rates controller. - * Input: '_rates_sp' vector, '_thrust_sp' - * Output: '_att_control' vector - */ -void -JetdriveControl::control_attitude_rates(float dt) -{ - /* reset integral if disarmed */ - if (!_armed.armed) { - _rates_int.zero(); - } - - /* current body angular rates */ - math::Vector<3> rates; - rates(0) = _v_att.rollspeed; - rates(1) = _v_att.pitchspeed; - rates(2) = _v_att.yawspeed; - - /* angular rates error */ - math::Vector<3> rates_err = _rates_sp - rates; - - // _att_control will be loaded to controls - // - // _att_control = (JC_XXXRATE_P * rates_err) + (JC_XXXRATE_D * (_rates_prev - rate) / dt) + _rates_int; - - _att_control = _params.rate_p.emult(rates_err) + _params.rate_d.emult(_rates_prev - rates) / dt + _rates_int; - _rates_prev = rates; - - /* update integral only if not saturated on low limit */ - if (_thrust_sp > 0.1f) { - for (int i = 0; i < 3; i++) { - if (fabsf(_att_control(i)) < _thrust_sp) { - float rate_i = _rates_int(i) + _params.rate_i(i) * rates_err(i) * dt; - - if (isfinite(rate_i) && rate_i > -RATES_I_LIMIT && rate_i < RATES_I_LIMIT && - _att_control(i) > -RATES_I_LIMIT && _att_control(i) < RATES_I_LIMIT) { - _rates_int(i) = rate_i; - } - } - } - } -} - -void -JetdriveControl::task_main_trampoline(int argc, char *argv[]) -{ - jetdrive_control::g_control->task_main(); -} - -void -JetdriveControl::task_main() -{ - warnx("started"); - fflush(stdout); - - /* - * do subscriptions - */ - _v_att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); - _v_rates_sp_sub = orb_subscribe(ORB_ID(vehicle_rates_setpoint)); - _v_att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); - _v_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode)); - _params_sub = orb_subscribe(ORB_ID(parameter_update)); - _manual_control_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); - _armed_sub = orb_subscribe(ORB_ID(actuator_armed)); - - /* rate limit attitude updates to 200Hz, failsafe against spam, normally runs at the same rate as attitude estimator */ - orb_set_interval(_v_att_sub, 5); - - /* initialize parameters cache */ - parameters_update(); - - /* wakeup source: vehicle attitude */ - struct pollfd fds[1]; - - fds[0].fd = _v_att_sub; - fds[0].events = POLLIN; - - while (!_task_should_exit) { - - /* wait for up to 100ms for data */ - int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100); - - /* timed out - periodic check for _task_should_exit */ - if (pret == 0) - continue; - - /* this is undesirable but not much we can do - might want to flag unhappy status */ - if (pret < 0) { - warn("poll error %d, %d", pret, errno); - /* sleep a bit before next try */ - usleep(100000); - continue; - } - - perf_begin(_loop_perf); - - /* run controller on attitude changes */ - if (fds[0].revents & POLLIN) { - static uint64_t last_run = 0; - float dt = (hrt_absolute_time() - last_run) / 1000000.0f; - last_run = hrt_absolute_time(); - - /* guard against too small (< 2ms) and too large (> 20ms) dt's */ - if (dt < 0.002f) { - dt = 0.002f; - - } else if (dt > 0.02f) { - dt = 0.02f; - } - - /* copy attitude topic */ - orb_copy(ORB_ID(vehicle_attitude), _v_att_sub, &_v_att); - - /* check for updates in other topics */ - parameter_update_poll(); - vehicle_control_mode_poll(); - arming_status_poll(); - vehicle_manual_poll(); - - if(!_v_control_mode.flag_control_offboard_enabled) - { - /* manual/direct control */ - _actuators.control[0] = _manual_control_sp .roll; - _actuators.control[1] = _manual_control_sp.pitch; - _actuators.control[2] = _manual_control_sp.yaw; - _actuators.control[3] = _manual_control_sp.throttle; - _actuators.timestamp = hrt_absolute_time(); - - if (_actuators_0_pub > 0) { - orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators); - - } else { - _actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators); - } - } else { - // FIX this: This is the atitude control logic for mc's - - if (_v_control_mode.flag_control_attitude_enabled) { - control_attitude(dt); - - /* publish attitude rates setpoint */ - _v_rates_sp.roll = _rates_sp(0); - _v_rates_sp.pitch = _rates_sp(1); - _v_rates_sp.yaw = _rates_sp(2); - _v_rates_sp.thrust = _thrust_sp; - _v_rates_sp.timestamp = hrt_absolute_time(); - - if (_v_rates_sp_pub > 0) { - orb_publish(ORB_ID(vehicle_rates_setpoint), _v_rates_sp_pub, &_v_rates_sp); - - } else { - _v_rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &_v_rates_sp); - } - - } else { - /* attitude controller disabled */ - // TODO poll 'attitude_rates_setpoint' topic - vehicle_rates_setpoint_poll(); - _rates_sp(0) = _v_rates_sp.roll; - _rates_sp(1) = _v_rates_sp.pitch; - _rates_sp(2) = _v_rates_sp.yaw; - _thrust_sp = _v_rates_sp.thrust; -// _rates_sp.zero(); -// _thrust_sp = 0.0f; - } - - if (_v_control_mode.flag_control_rates_enabled) { - control_attitude_rates(dt); - - /* publish actuator controls */ - _actuators.control[0] = (isfinite(_att_control(0))) ? _att_control(0) : 0.0f; - _actuators.control[1] = (isfinite(_att_control(1))) ? _att_control(1) : 0.0f; - _actuators.control[2] = (isfinite(_att_control(2))) ? _att_control(2) : 0.0f; - _actuators.control[3] = (isfinite(_thrust_sp)) ? _thrust_sp : 0.0f; - _actuators.timestamp = hrt_absolute_time(); - - if (_actuators_0_pub > 0) { - orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators); - - } else { - _actuators_0_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators); - } - } - } - } - - perf_end(_loop_perf); - } - - warnx("exit"); - - _control_task = -1; - _exit(0); -} - -int -JetdriveControl::start() -{ - ASSERT(_control_task == -1); - - /* start the task */ - _control_task = task_spawn_cmd("jetdrive_control", - SCHED_DEFAULT, - SCHED_PRIORITY_MAX - 5, - 2048, - (main_t)&JetdriveControl::task_main_trampoline, - nullptr); - - if (_control_task < 0) { - warn("task start failed"); - return -errno; - } - - return OK; -} - -int jetdrive_control_main(int argc, char *argv[]) -{ - if (argc < 1) - errx(1, "usage: jetdrive_control {start|stop|status}"); - - if (!strcmp(argv[1], "start")) { - - if (jetdrive_control::g_control != nullptr) - errx(1, "already running"); - - jetdrive_control::g_control = new JetdriveControl; - - if (jetdrive_control::g_control == nullptr) - errx(1, "alloc failed"); - - if (OK != jetdrive_control::g_control->start()) { - delete jetdrive_control::g_control; - jetdrive_control::g_control = nullptr; - err(1, "start failed"); - } - - exit(0); - } - - if (!strcmp(argv[1], "stop")) { - if (jetdrive_control::g_control == nullptr) - errx(1, "not running"); - - delete jetdrive_control::g_control; - jetdrive_control::g_control = nullptr; - exit(0); - } - - if (!strcmp(argv[1], "status")) { - if (jetdrive_control::g_control) { - errx(0, "running"); - - } else { - errx(1, "not running"); - } - } - - warnx("unrecognized command"); - return 1; -} |