systemcmds: convert c -> c++

src/systemcmds/nshterm/nshterm.cpp

@@ -0,0 +1,110 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+ *   Author: Andrew Tridgell
+ *
+ * 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 nshterm.c
+ */
+
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/module.h>
+#include <termios.h>
+#include <stdbool.h>
+#include <stdio.h>
+#include <stdarg.h>
+#include <unistd.h>
+#include <stdlib.h>
+#include <errno.h>
+#include <nshlib/nshlib.h>
+#include <fcntl.h>
+#include <systemlib/err.h>
+#include <drivers/drv_hrt.h>
+
+static void print_usage()
+{
+	PRINT_MODULE_DESCRIPTION("Start an NSH shell on a given port.\n"
+				 "\n"
+				 "This was previously used to start a shell on the USB serial port.\n"
+				 "Now there runs mavlink, and it is possible to use a shell over mavlink.\n"
+				);
+
+	PRINT_MODULE_USAGE_NAME_SIMPLE("nshterm", "command");
+	PRINT_MODULE_USAGE_ARG("<file:dev>", "Device on which to start the shell (eg. /dev/ttyACM0)", false);
+}
+
+extern "C" __EXPORT int nshterm_main(int argc, char *argv[])
+{
+	if (argc < 2) {
+		print_usage();
+		return 1;
+	}
+
+	/* set up the serial port with output processing */
+	int fd = open(argv[1], O_RDWR);
+
+	/* Try to set baud rate */
+	struct termios uart_config;
+	int termios_state;
+
+	/* Back up the original uart configuration to restore it after exit */
+	if ((termios_state = tcgetattr(fd, &uart_config)) < 0) {
+		PX4_ERR("get config %s: %d\n", argv[1], termios_state);
+		close(fd);
+		return -1;
+	}
+
+	/* Set ONLCR flag (which appends a CR for every LF) */
+	uart_config.c_oflag |= (ONLCR | OPOST);
+
+	if ((termios_state = tcsetattr(fd, TCSANOW, &uart_config)) < 0) {
+		PX4_ERR("set config %s\n", argv[1]);
+		close(fd);
+		return -1;
+	}
+
+	/* setup standard file descriptors */
+	close(0);
+	close(1);
+	close(2);
+	dup2(fd, 0);
+	dup2(fd, 1);
+	dup2(fd, 2);
+
+	nsh_consolemain(0, nullptr);
+
+	close(fd);
+
+	PX4_INFO("exiting");
+
+	return 0;
+}