qshell.cpp
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/****************************************************************************
*
* Copyright (c) 2016 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 qshell.cpp
* Send shell commands to qurt
*
* @author Nicolas de Palezieux <ndepal@gmail.com>
*/
#include <px4_platform_common/log.h>
#include <unistd.h>
#include <stdio.h>
#include <string.h>
#include <string>
#include <stdlib.h>
#include <drivers/drv_hrt.h>
#include <uORB/topics/qshell_retval.h>
#include "qshell.h"
px4::AppState QShell::appState;
int QShell::main(std::vector<std::string> argList)
{
int ret = _send_cmd(argList);
if (ret != 0) {
PX4_ERR("Could not send command");
return -1;
}
ret = _wait_for_retval();
if (ret != 0) {
PX4_ERR("Could not get return value");
return -1;
}
return 0;
}
int QShell::_send_cmd(std::vector<std::string> &argList)
{
// Let's use a sequence number to check if a return value belongs to the
// command that we just sent and not a previous one that we assumed that
// it had timed out.
++_current_sequence;
qshell_req_s qshell_req{};
std::string cmd;
for (size_t i = 0; i < argList.size(); i++) {
cmd += argList[i];
if (i < argList.size() - 1) {
cmd += " ";
}
}
if (cmd.size() >= qshell_req.MAX_STRLEN) {
PX4_ERR("Command too long: %d >= %d", (int) cmd.size(), (int) qshell_req.MAX_STRLEN);
return -1;
}
PX4_INFO("Send cmd: '%s'", cmd.c_str());
qshell_req.strlen = cmd.size();
strcpy((char *)qshell_req.cmd, cmd.c_str());
qshell_req.request_sequence = _current_sequence;
qshell_req.timestamp = hrt_absolute_time();
_qshell_req_pub.publish(qshell_req);
return 0;
}
int QShell::_wait_for_retval()
{
const hrt_abstime time_started_us = hrt_absolute_time();
while (hrt_elapsed_time(&time_started_us) < 3000000) {
qshell_retval_s retval;
if (_qshell_retval_sub.update(&retval)) {
if (retval.return_sequence != _current_sequence) {
PX4_WARN("Ignoring return value with wrong sequence");
} else {
if (retval.return_value) {
PX4_WARN("cmd returned with: %d", retval.return_value);
}
return 0;
}
}
px4_usleep(1000);
}
PX4_ERR("command timed out");
return -1;
}