hello_start.cpp
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/****************************************************************************
*
* Copyright (C) 2015 Mark Charlebois. 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 hello_start_posix.cpp
*
* @author Thomas Gubler <thomasgubler@gmail.com>
* @author Mark Charlebois <mcharleb@gmail.com>
*/
#include "hello_example.h"
#include <px4_platform_common/log.h>
#include <px4_platform_common/app.h>
#include <px4_platform_common/tasks.h>
#include <stdio.h>
#include <string.h>
#include <sched.h>
static int daemon_task; /* Handle of deamon task / thread */
//using namespace px4;
extern "C" __EXPORT int hello_main(int argc, char *argv[]);
int hello_main(int argc, char *argv[])
{
if (argc < 2) {
PX4_WARN("usage: hello {start|stop|status}\n");
return 1;
}
if (!strcmp(argv[1], "start")) {
if (HelloExample::appState.isRunning()) {
PX4_INFO("already running\n");
/* this is not an error */
return 0;
}
daemon_task = px4_task_spawn_cmd("hello",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
2000,
PX4_MAIN,
(argv) ? (char *const *)&argv[2] : (char *const *)nullptr);
return 0;
}
if (!strcmp(argv[1], "stop")) {
HelloExample::appState.requestExit();
return 0;
}
if (!strcmp(argv[1], "status")) {
if (HelloExample::appState.isRunning()) {
PX4_INFO("is running\n");
} else {
PX4_INFO("not started\n");
}
return 0;
}
PX4_WARN("usage: hello_main {start|stop|status}\n");
return 1;
}