cdevtest_start.cpp
2.93 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
/****************************************************************************
*
* 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 cdevtest_start.cpp
*
* @author Thomas Gubler <thomasgubler@gmail.com>
* @author Mark Charlebois <mcharleb@gmail.com>
*/
#include "cdevtest_example.h"
#include <px4_platform_common/app.h>
#include <px4_platform_common/tasks.h>
#include <stdio.h>
#include <string.h>
static int daemon_task; /* Handle of deamon task / thread */
//using namespace px4;
extern "C" __EXPORT int cdev_test_main(int argc, char *argv[]);
int cdev_test_main(int argc, char *argv[])
{
if (argc < 2) {
printf("usage: cdevtest {start|stop|status}\n");
return 1;
}
if (!strcmp(argv[1], "start")) {
if (CDevExample::appState.isRunning()) {
printf("already running\n");
/* this is not an error */
return 0;
}
daemon_task = px4_task_spawn_cmd("cdevtest",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
2000,
PX4_MAIN,
(argv) ? (char *const *)&argv[2] : (char *const *)nullptr);
return 0;
}
if (!strcmp(argv[1], "stop")) {
CDevExample::appState.requestExit();
return 0;
}
if (!strcmp(argv[1], "status")) {
if (CDevExample::appState.isRunning()) {
printf("is running\n");
} else {
printf("not started\n");
}
return 0;
}
printf("usage: cdevtest_main {start|stop|status}\n");
return 1;
}