From 092a3c5129e4d26463b298d110dbfa8683fb9c26 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sun, 25 Jan 2015 18:23:46 +0100 Subject: add start wrapper for mc att ctl multip --- .../mc_att_control_main.cpp | 66 +--------------------- src/modules/mc_att_control_multiplatform/module.mk | 1 + 2 files changed, 2 insertions(+), 65 deletions(-) diff --git a/src/modules/mc_att_control_multiplatform/mc_att_control_main.cpp b/src/modules/mc_att_control_multiplatform/mc_att_control_main.cpp index b356b5dc0..5a79a8c6b 100644 --- a/src/modules/mc_att_control_multiplatform/mc_att_control_main.cpp +++ b/src/modules/mc_att_control_multiplatform/mc_att_control_main.cpp @@ -55,72 +55,8 @@ #include "mc_att_control.h" 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(mc_att_control_m); - -#if !defined(__PX4_ROS) -/** - * Multicopter attitude control app start / stop handling function - * - * @ingroup apps - */ - -extern "C" __EXPORT int mc_att_control_m_main(int argc, char *argv[]); -int mc_att_control_m_main(int argc, char *argv[]) -{ - if (argc < 1) { - errx(1, "usage: mc_att_control_m {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("mc_att_control_m", - SCHED_DEFAULT, - SCHED_PRIORITY_MAX - 5, - 3000, - mc_att_control_m_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(mc_att_control_m) +int main(int argc, char **argv) { px4::init(argc, argv, "mc_att_control_m"); diff --git a/src/modules/mc_att_control_multiplatform/module.mk b/src/modules/mc_att_control_multiplatform/module.mk index c61ba18b4..959f6492b 100644 --- a/src/modules/mc_att_control_multiplatform/module.mk +++ b/src/modules/mc_att_control_multiplatform/module.mk @@ -38,6 +38,7 @@ MODULE_COMMAND = mc_att_control_m SRCS = mc_att_control_main.cpp \ + mc_att_control_start_nuttx.cpp \ mc_att_control.cpp \ mc_att_control_base.cpp \ mc_att_control_params.c -- cgit v1.2.3