px4_posix_impl.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 px4_posix_impl.cpp
*
* PX4 Middleware Wrapper Linux Implementation
*/
#include <px4_platform_common/defines.h>
#include <px4_platform_common/workqueue.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/time.h>
#include <stdint.h>
#include <stdio.h>
#include <signal.h>
#include <errno.h>
#include <unistd.h>
#include <parameters/param.h>
#include "hrt_work.h"
#include <drivers/drv_hrt.h>
#include <pthread.h>
#include <px4_platform_common/init.h>
extern pthread_t _shell_task_id;
__BEGIN_DECLS
long PX4_TICKS_PER_SEC = sysconf(_SC_CLK_TCK);
__END_DECLS
namespace px4
{
void init_once();
void init_once()
{
_shell_task_id = pthread_self();
work_queues_init();
hrt_work_queue_init();
px4_platform_init();
}
void init(int argc, char *argv[], const char *app_name)
{
printf("\n");
printf("______ __ __ ___ \n");
printf("| ___ \\ \\ \\ / / / |\n");
printf("| |_/ / \\ V / / /| |\n");
printf("| __/ / \\ / /_| |\n");
printf("| | / /^\\ \\ \\___ |\n");
printf("\\_| \\/ \\/ |_/\n");
printf("\n");
printf("%s starting.\n", app_name);
printf("\n");
// set the threads name
#ifdef __PX4_DARWIN
(void)pthread_setname_np(app_name);
#else
(void)pthread_setname_np(pthread_self(), app_name);
#endif
}
}