muorb_main.cpp
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/****************************************************************************
*
* Copyright (c) 2012-2016 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.
*
****************************************************************************/
#include <string.h>
#include "modules/uORB/uORBManager.hpp"
#include "uORBKraitFastRpcChannel.hpp"
extern "C" { __EXPORT int muorb_main(int argc, char *argv[]); }
static void usage()
{
warnx("Usage: muorb 'start', 'stop', 'status'");
}
int
muorb_main(int argc, char *argv[])
{
if (argc < 2) {
usage();
return -EINVAL;
}
/*
* Start/load the driver.
*
* XXX it would be nice to have a wrapper for this...
*/
if (!strcmp(argv[1], "start")) {
if (uORB::KraitFastRpcChannel::isInstance()) {
PX4_WARN("muorb already running");
} else {
// register the fast rpc channel with UORB.
uORB::Manager::get_instance()->set_uorb_communicator(uORB::KraitFastRpcChannel::GetInstance());
// start the KaitFastRPC channel thread.
uORB::KraitFastRpcChannel::GetInstance()->Start();
}
return OK;
}
if (!strcmp(argv[1], "stop")) {
if (uORB::KraitFastRpcChannel::isInstance()) {
uORB::KraitFastRpcChannel::GetInstance()->Stop();
} else {
PX4_WARN("muorb not running");
}
return OK;
}
/*
* Print driver information.
*/
if (!strcmp(argv[1], "status")) {
if (uORB::KraitFastRpcChannel::isInstance()) {
PX4_WARN("muorb running");
} else {
PX4_WARN("muorb not running");
}
return OK;
}
usage();
return -EINVAL;
}