px4_qurt_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_linux_impl.cpp
*
* PX4 Middleware Wrapper Linux Implementation
*/
#include <px4_platform_common/defines.h>
#include <px4_platform_common/log.h>
#include <px4_platform_common/init.h>
#include <px4_platform_common/tasks.h>
#include <px4_platform_common/workqueue.h>
#include <dataman/dataman.h>
#include <stdint.h>
#include <stdio.h>
#include <signal.h>
#include <errno.h>
#include <unistd.h>
#include <semaphore.h>
#include <parameters/param.h>
#include "hrt_work.h"
//extern pthread_t _shell_task_id;
__BEGIN_DECLS
extern uint64_t get_ticks_per_us();
//long PX4_TICKS_PER_SEC = 1000L;
unsigned int sleep(unsigned int sec)
{
for (unsigned int i = 0; i < sec; i++) {
usleep(1000000);
}
return 0;
}
extern void hrt_init(void);
#if 0
void qurt_log(const char *fmt, ...)
{
va_list args;
va_start(args, fmt);
printf(fmt, args);
printf("n");
va_end(args);
}
#endif
//extern int _posix_init(void);
__END_DECLS
extern struct wqueue_s gwork[NWORKERS];
namespace px4
{
void init_once(void);
void init_once(void)
{
// Required for QuRT
//_posix_init();
// _shell_task_id = pthread_self();
// PX4_INFO("Shell id is %lu", _shell_task_id);
work_queues_init();
hrt_work_queue_init();
px4_platform_init();
}
void init(int argc, char *argv[], const char *app_name)
{
PX4_DEBUG("App name: %s\n", app_name);
}
}
/** Retrieve from the data manager store */
ssize_t
dm_read(
dm_item_t item, /* The item type to retrieve */
unsigned index, /* The index of the item */
void *buffer, /* Pointer to caller data buffer */
size_t buflen /* Length in bytes of data to retrieve */
)
{
return 0;
}
/** write to the data manager store */
ssize_t
dm_write(
dm_item_t item, /* The item type to store */
unsigned index, /* The index of the item */
dm_persitence_t persistence, /* The persistence level of this item */
const void *buffer, /* Pointer to caller data buffer */
size_t buflen /* Length in bytes of data to retrieve */
)
{
return 0;
}
size_t strnlen(const char *s, size_t maxlen)
{
size_t i = 0;
while (s[i] != '\0' && i < maxlen) {
++i;
}
return i;
}
int fprintf(FILE *stream, const char *format, ...)
{
PX4_ERR("Error: Calling unresolved symbol stub:[%s(%s,...)]", __FUNCTION__, format);
return 0;
}
int fputc(int c, FILE *stream)
{
return c;
}
int putchar(int character)
{
return character;
}