module: add a common module base class with usage printf methods

Provides: - thread-safety for module start/stop - some shared code for module start/stop. Should also be less prone to errors. - constructor & destructors are called from within the new module thread - can be used for work queue & thread modules - strutured & formal way for module printf usage & module documentation Limitation: - supports only modules with one instance (eg. not mavlink)
2026-06-29 21:40:34 +08:00 · 2017-04-27 17:00:03 +02:00
parent b5275ecd52
commit 04c4339ca3
3 changed files with 609 additions and 0 deletions
@@ -0,0 +1,147 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2017 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file module.cpp
+ * Implementation of the API declared in px4_module.h.
+ */
+
+#include <px4_module.h>
+
+pthread_mutex_t px4_modules_mutex = PTHREAD_MUTEX_INITIALIZER;
+
+#ifndef __PX4_NUTTX
+
+void PRINT_MODULE_DESCRIPTION(const char *description)
+{
+	printf("%s\n", description);
+}
+
+#endif /* __PX4_NUTTX */
+
+void PRINT_MODULE_USAGE_NAME(const char *executable_name, const char *category)
+{
+	printf("Usage: %s <command> [arguments...]\n", executable_name);
+	printf(" Commands:\n");
+}
+
+void PRINT_MODULE_USAGE_NAME_SIMPLE(const char *executable_name, const char *category)
+{
+	printf("Usage: %s [arguments...]\n", executable_name);
+}
+
+void PRINT_MODULE_USAGE_COMMAND_DESCR(const char *name, const char *description)
+{
+	if (description) {
+		printf("\n   %-13s %s\n", name, description);
+
+	} else {
+		printf("\n   %s\n", name);
+	}
+}
+
+void PRINT_MODULE_USAGE_PARAM_COMMENT(const char *comment)
+{
+	printf("\n %s\n", comment);
+}
+
+void PRINT_MODULE_USAGE_PARAM_INT(char option_char, int default_val, int min_val, int max_val,
+				  const char *description, bool is_optional)
+{
+	if (is_optional) {
+		printf("     [-%c <val>]  %s\n", option_char, description);
+		printf("                 default: %i\n", default_val);
+
+	} else {
+		printf("     -%c <val>    %s\n", option_char, description);
+	}
+}
+
+void PRINT_MODULE_USAGE_PARAM_FLOAT(char option_char, float default_val, float min_val, float max_val,
+				    const char *description, bool is_optional)
+{
+	if (is_optional) {
+		printf("     [-%c <val>]  %s\n", option_char, description);
+		printf("                 default: %.1f\n", (double)default_val);
+
+	} else {
+		printf("     -%c <val>    %s\n", option_char, description);
+	}
+}
+
+void PRINT_MODULE_USAGE_PARAM_FLAG(char option_char, const char *description, bool is_optional)
+{
+	if (is_optional) {
+		printf("     [-%c]        %s\n", option_char, description);
+
+	} else {
+		printf("     -%c          %s\n", option_char, description);
+	}
+}
+
+void PRINT_MODULE_USAGE_PARAM_STRING(char option_char, const char *default_val, const char *values,
+				     const char *description, bool is_optional)
+{
+	if (is_optional) {
+		printf("     [-%c <val>]  %s\n", option_char, description);
+
+	} else {
+		printf("     -%c <val>    %s\n", option_char, description);
+	}
+
+	if (values) {
+		if (default_val) {
+			printf("                 values: %s, default: %s\n", values, default_val);
+
+		} else {
+			printf("                 values: %s\n", values);
+		}
+
+	} else {
+		if (default_val) {
+			printf("                 default: %s\n", default_val);
+		}
+	}
+}
+
+
+void PRINT_MODULE_USAGE_ARG(const char *values, const char *description, bool is_optional)
+{
+	if (is_optional) {
+		printf("     [%-9s] %s\n", values, description);
+
+	} else {
+		printf("     %-11s %s\n", values, description);
+	}
+}
+