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Diffstat (limited to 'src/examples/subscriber/subscriber_main.cpp')
-rw-r--r-- | src/examples/subscriber/subscriber_main.cpp | 112 |
1 files changed, 112 insertions, 0 deletions
diff --git a/src/examples/subscriber/subscriber_main.cpp b/src/examples/subscriber/subscriber_main.cpp new file mode 100644 index 000000000..32de4fd6e --- /dev/null +++ b/src/examples/subscriber/subscriber_main.cpp @@ -0,0 +1,112 @@ +/**************************************************************************** + * + * 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_main.cpp + * Example subscriber for ros and px4 + * + * @author Thomas Gubler <thomasgubler@gmail.com> + */ +#include <string.h> +#include <cstdlib> +#include "subscriber_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; + +int subscriber_task_main(int argc, char *argv[]); + +PX4_MAIN_FUNCTION(subscriber) +{ + px4::init(argc, argv, "subscriber"); + + 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) ? (const char **)&argv[2] : (const char **)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; +} + +int subscriber_task_main(int argc, char *argv[]) +{ + warnx("starting"); + SubscriberExample s; + thread_running = true; + s.spin(); + + warnx("exiting."); + thread_running = false; + return 0; +} |