dyn.cpp
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/****************************************************************************
*
* Copyright (C) 2018 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 dyn.cpp
*
* @author Mara Bos <m-ou.se@m-ou.se>
*/
#include <dlfcn.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/log.h>
static void usage();
extern "C" {
__EXPORT int dyn_main(int argc, char *argv[]);
}
static void usage()
{
PRINT_MODULE_DESCRIPTION(
R"(
### Description
Load and run a dynamic PX4 module, which was not compiled into the PX4 binary.
### Example
$ dyn ./hello.px4mod start
)");
PRINT_MODULE_USAGE_NAME_SIMPLE("dyn", "command");
PRINT_MODULE_USAGE_ARG("<file>", "File containing the module", false);
PRINT_MODULE_USAGE_ARG("arguments...", "Arguments to the module", true);
}
int dyn_main(int argc, char *argv[]) {
if (argc < 2) {
usage();
return 1;
}
void *handle = dlopen(argv[1], RTLD_NOW);
if (!handle) {
PX4_ERR("%s", dlerror());
return 1;
}
void *main_address = dlsym(handle, "px4_module_main");
if (!main_address) {
PX4_ERR("%s", dlerror());
dlclose(handle);
return 1;
}
auto main_function = (int (*)(int, char **))main_address;
return main_function(argc - 1, argv + 1);
}