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/****************************************************************************
*
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
* Author: Andrew Tridgell
*
* 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 nshterm.c
* start a nsh terminal on a given port. This can be useful for error
* handling in startup scripts to start a nsh shell on /dev/ttyACM0
* for diagnostics
*/
#include <nuttx/config.h>
#include <termios.h>
#include <stdbool.h>
#include <stdio.h>
#include <stdarg.h>
#include <unistd.h>
#include <stdlib.h>
#include <errno.h>
#include <apps/nsh.h>
#include <fcntl.h>
#include <systemlib/err.h>
#include <uORB/topics/actuator_armed.h>
__EXPORT int nshterm_main(int argc, char *argv[]);
int
nshterm_main(int argc, char *argv[])
{
if (argc < 2) {
printf("Usage: nshterm <device>\n");
exit(1);
}
unsigned retries = 0;
int fd = -1;
int armed_fd = orb_subscribe(ORB_ID(actuator_armed));
struct actuator_armed_s armed;
/* we assume the system does not provide arming status feedback */
bool armed_updated = false;
/* try the first 30 seconds or if arming system is ready */
while ((retries < 300) || armed_updated) {
/* abort if an arming topic is published and system is armed */
bool updated = false;
if (orb_check(armed_fd, &updated)) {
/* the system is now providing arming status feedback.
* instead of timing out, we resort to abort bringing
* up the terminal.
*/
armed_updated = true;
orb_copy(ORB_ID(actuator_armed), armed_fd, &armed);
if (armed.armed) {
/* this is not an error, but we are done */
exit(0);
}
}
/* the retries are to cope with the behaviour of /dev/ttyACM0 */
/* which may not be ready immediately. */
fd = open(argv[1], O_RDWR);
if (fd != -1) {
break;
}
usleep(100000);
retries++;
}
if (fd == -1) {
perror(argv[1]);
exit(1);
}
/* set up the serial port with output processing */
/* Try to set baud rate */
struct termios uart_config;
int termios_state;
/* Back up the original uart configuration to restore it after exit */
if ((termios_state = tcgetattr(fd, &uart_config)) < 0) {
warnx("ERR get config %s: %d\n", argv[1], termios_state);
close(fd);
return -1;
}
/* Set ONLCR flag (which appends a CR for every LF) */
uart_config.c_oflag |= (ONLCR | OPOST/* | OCRNL*/);
if ((termios_state = tcsetattr(fd, TCSANOW, &uart_config)) < 0) {
warnx("ERR set config %s\n", argv[1]);
close(fd);
return -1;
}
/* setup standard file descriptors */
close(0);
close(1);
close(2);
dup2(fd, 0);
dup2(fd, 1);
dup2(fd, 2);
nsh_consolemain(0, NULL);
close(fd);
return OK;
}
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