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Merge branch 'master' into px4io-i2c

Browse Source
This commit is contained in:
px4dev
2013-01-25 19:29:29 -08:00
parent 0bc836ae1d beb4522298
commit 24f6c6b121
97 changed files with 3806 additions and 753 deletions
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apps/ChangeLog.txt
+7
View File
@@ -485,3 +485,10 @@
argument is now optional. Many files systems do not need
a source and it is really stupid to have to enter a bogus
source parameter.
* apps/nshlib/nsh_fileapp.c: Add the ability to execute a file
from a file system using posix_spawn().
* apps/builtin/: Extensions from Mike Smith.
* apps/examples/ftpd/Makefile: Name ftpd_start is not the name of
the entrypoint. Should be ftpd_main (from Yan T.)
* apps/netutils/telnetd/telnetd_driver: Was stuck in a loop if
recv[from]() ever returned a value <= 0.
apps/builtin/Makefile
+1 -1
View File
@@ -39,7 +39,7 @@ include $(APPDIR)/Make.defs
# Source and object files
ASRCS =
CSRCS = builtin.c exec_builtin.c
CSRCS = builtin.c builtin_list.c exec_builtin.c
AOBJS = $(ASRCS:.S=$(OBJEXT))
COBJS = $(CSRCS:.c=$(OBJEXT))
apps/builtin/builtin.c
+8 -25
View File
@@ -55,27 +55,8 @@
* Public Data
****************************************************************************/
#undef EXTERN
#if defined(__cplusplus)
#define EXTERN extern "C"
extern "C" {
#else
#define EXTERN extern
#endif
#include "builtin_proto.h"
const struct builtin_s g_builtins[] =
{
# include "builtin_list.h"
{ NULL, 0, 0, 0 }
};
#undef EXTERN
#if defined(__cplusplus)
}
#endif
extern const struct builtin_s g_builtins[];
extern const int g_builtin_count;
/****************************************************************************
* Private Data
@@ -89,9 +70,11 @@ const struct builtin_s g_builtins[] =
* Public Functions
****************************************************************************/
int number_builtins(void)
FAR const struct builtin_s *builtin_for_index(int index)
{
return sizeof(g_builtins)/sizeof(struct builtin_s) - 1;
if (index < g_builtin_count)
{
return &g_builtins[index];
}
return NULL;
}
apps/builtin/builtin_list.c
+79
View File
@@ -0,0 +1,79 @@
/****************************************************************************
* apps/builtin/builtin_list.c
*
* Copyright (C) 2011 Uros Platise. All rights reserved.
* Copyright (C) 2011 Gregory Nutt. All rights reserved.
* Authors: Uros Platise <uros.platise@isotel.eu>
* Gregory Nutt <gnutt@nuttx.org>
*
* 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 NuttX 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.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <nuttx/binfmt/builtin.h>
/****************************************************************************
* Private Types
****************************************************************************/
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
/****************************************************************************
* Public Data
****************************************************************************/
#include "builtin_proto.h"
const struct builtin_s g_builtins[] =
{
# include "builtin_list.h"
{ NULL, 0, 0, 0 }
};
const int g_builtin_count = sizeof(g_builtins) / sizeof(g_builtins[0]);
/****************************************************************************
* Private Data
****************************************************************************/
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/
apps/builtin/exec_builtin.c
+58 -14
View File
@@ -46,6 +46,7 @@
#include <nuttx/config.h>
#include <sys/wait.h>
#include <sched.h>
#include <string.h>
#include <fcntl.h>
@@ -92,7 +93,9 @@ struct builtin_parms_s
****************************************************************************/
static sem_t g_builtin_parmsem = SEM_INITIALIZER(1);
#ifndef CONFIG_SCHED_WAITPID
static sem_t g_builtin_execsem = SEM_INITIALIZER(0);
#endif
static struct builtin_parms_s g_builtin_parms;
/****************************************************************************
@@ -121,7 +124,7 @@ static void bultin_semtake(FAR sem_t *sem)
do
{
ret = sem_wait(sem);
ASSERT(ret == 0 || errno == EINTR);
ASSERT(ret == 0 || get_errno() == EINTR);
}
while (ret != 0);
}
@@ -142,8 +145,17 @@ static void bultin_semtake(FAR sem_t *sem)
static int builtin_taskcreate(int index, FAR const char **argv)
{
FAR const struct builtin_s *b;
int ret;
b = builtin_for_index(index);
if (b == NULL)
{
set_errno(ENOENT);
return ERROR;
}
/* Disable pre-emption. This means that although we start the builtin
* application here, it will not actually run until pre-emption is
* re-enabled below.
@@ -153,8 +165,7 @@ static int builtin_taskcreate(int index, FAR const char **argv)
/* Start the builtin application task */
ret = TASK_CREATE(g_builtins[index].name, g_builtins[index].priority,
g_builtins[index].stacksize, g_builtins[index].main,
ret = TASK_CREATE(b->name, b->priority, b->stacksize, b->main,
(argv) ? &argv[1] : (FAR const char **)NULL);
/* If robin robin scheduling is enabled, then set the scheduling policy
@@ -171,7 +182,7 @@ static int builtin_taskcreate(int index, FAR const char **argv)
* new task cannot yet have changed from its initial value.
*/
param.sched_priority = g_builtins[index].priority;
param.sched_priority = b->priority;
(void)sched_setscheduler(ret, SCHED_RR, &param);
}
#endif
@@ -217,7 +228,7 @@ static int builtin_proxy(int argc, char *argv[])
{
/* Remember the errno value. ret is already set to ERROR */
g_builtin_parms.errcode = errno;
g_builtin_parms.errcode = get_errno();
sdbg("ERROR: open of %s failed: %d\n",
g_builtin_parms.redirfile, g_builtin_parms.errcode);
}
@@ -235,7 +246,7 @@ static int builtin_proxy(int argc, char *argv[])
ret = dup2(fd, 1);
if (ret < 0)
{
g_builtin_parms.errcode = errno;
g_builtin_parms.errcode = get_errno();
sdbg("ERROR: dup2 failed: %d\n", g_builtin_parms.errcode);
}
@@ -255,18 +266,26 @@ static int builtin_proxy(int argc, char *argv[])
ret = builtin_taskcreate(g_builtin_parms.index, g_builtin_parms.argv);
if (ret < 0)
{
g_builtin_parms.errcode = errno;
g_builtin_parms.errcode = get_errno();
sdbg("ERROR: builtin_taskcreate failed: %d\n",
g_builtin_parms.errcode);
}
}
/* NOTE: There is a logical error here if CONFIG_SCHED_HAVE_PARENT is
* defined: The new task is the child of this proxy task, not the
* original caller. As a consequence, operations like waitpid() will
* fail on the caller's thread.
*/
/* Post the semaphore to inform the parent task that we have completed
* what we need to do.
*/
g_builtin_parms.result = ret;
#ifndef CONFIG_SCHED_WAITPID
builtin_semgive(&g_builtin_execsem);
#endif
return 0;
}
@@ -291,10 +310,11 @@ static inline int builtin_startproxy(int index, FAR const char **argv,
struct sched_param param;
pid_t proxy;
int errcode;
#ifdef CONFIG_SCHED_WAITPID
int status;
#endif
int ret;
// DEBUGASSERT(path);
svdbg("index=%d argv=%p redirfile=%s oflags=%04x\n",
index, argv, redirfile, oflags);
@@ -326,11 +346,21 @@ static inline int builtin_startproxy(int index, FAR const char **argv,
ret = sched_getparam(0, &param);
if (ret < 0)
{
errcode = errno;
errcode = get_errno();
sdbg("ERROR: sched_getparam failed: %d\n", errcode);
goto errout;
goto errout_with_sem;
}
/* Disable pre-emption so that the proxy does not run until we waitpid
* is called. This is probably unnecessary since the builtin_proxy has
* the same priority as this thread; it should be schedule behind this
* task in the ready-to-run list.
*/
#ifdef CONFIG_SCHED_WAITPID
sched_lock();
#endif
/* Start the intermediary/proxy task at the same priority as the parent task. */
proxy = TASK_CREATE("builtin_proxy", param.sched_priority,
@@ -338,16 +368,25 @@ static inline int builtin_startproxy(int index, FAR const char **argv,
(FAR const char **)NULL);
if (proxy < 0)
{
errcode = errno;
errcode = get_errno();
sdbg("ERROR: Failed to start builtin_proxy: %d\n", errcode);
goto errout;
goto errout_with_lock;
}
/* Wait for the proxy to complete its job. We could use waitpid()
* for this.
*/
#ifdef CONFIG_SCHED_WAITPID
ret = waitpid(proxy, &status, 0);
if (ret < 0)
{
sdbg("ERROR: waitpid() failed: %d\n", get_errno());
goto errout_with_lock;
}
#else
bultin_semtake(&g_builtin_execsem);
#endif
/* Get the result and relinquish our access to the parameter structure */
@@ -355,7 +394,12 @@ static inline int builtin_startproxy(int index, FAR const char **argv,
builtin_semgive(&g_builtin_parmsem);
return g_builtin_parms.result;
errout:
errout_with_lock:
#ifdef CONFIG_SCHED_WAITPID
sched_unlock();
#endif
errout_with_sem:
set_errno(errcode);
builtin_semgive(&g_builtin_parmsem);
return ERROR;
apps/drivers/blinkm/blinkm.cpp
+43 -17
View File
@@ -57,7 +57,7 @@
* System armed:
* One message is made of 4 Blinks and a pause in the same length as the 4 blinks.
*
* X-X-X-X-_-_-_-_-
* X-X-X-X-_-_-_-_-_-_-
* -------------------------
* G G G M
* P P P O
@@ -67,26 +67,26 @@
* (X = on, _=off)
*
* The first 3 blinks indicates the status of the GPS-Signal (red):
* 0-4 satellites = X-X-X-X-_-_-_-_-
* 5 satellites = X-X-_-X-_-_-_-_-
* 6 satellites = X-_-_-X-_-_-_-_-
* >=7 satellites = _-_-_-X-_-_-_-_-
* 0-4 satellites = X-X-X-X-_-_-_-_-_-_-
* 5 satellites = X-X-_-X-_-_-_-_-_-_-
* 6 satellites = X-_-_-X-_-_-_-_-_-_-
* >=7 satellites = _-_-_-X-_-_-_-_-_-_-
* If no GPS is found the first 3 blinks are white
*
* The fourth Blink indicates the Flightmode:
* MANUAL : off
* MANUAL : amber
* STABILIZED : yellow
* HOLD : blue
* AUTO : green
*
* Battery Warning (low Battery Level):
* Continuously blinking in yellow X-X-X-X-X-X-X-X
* Continuously blinking in yellow X-X-X-X-X-X-X-X-X-X
*
* Battery Alert (critical Battery Level)
* Continuously blinking in red X-X-X-X-X-X-X-X
* Continuously blinking in red X-X-X-X-X-X-X-X-X-X
*
* General Error (no uOrb Data)
* Continuously blinking in white X-X-X-X-X-X-X-X
* Continuously blinking in white X-X-X-X-X-X-X-X-X-X
*
*/
@@ -118,8 +118,8 @@
#include <uORB/topics/vehicle_gps_position.h>
static const float MAX_CELL_VOLTAGE = 4.3f;
static const int LED_ONTIME = 100;
static const int LED_OFFTIME = 100;
static const int LED_ONTIME = 120;
static const int LED_OFFTIME = 120;
static const int LED_BLINK = 1;
static const int LED_NOBLINK = 0;
@@ -167,7 +167,8 @@ private:
LED_PURPLE,
LED_GREEN,
LED_BLUE,
LED_WHITE
LED_WHITE,
LED_AMBER
};
work_s _work;
@@ -178,6 +179,8 @@ private:
int led_color_4;
int led_color_5;
int led_color_6;
int led_color_7;
int led_color_8;
int led_blink;
bool systemstate_run;
@@ -250,6 +253,8 @@ BlinkM::BlinkM(int bus) :
led_color_4(LED_OFF),
led_color_5(LED_OFF),
led_color_6(LED_OFF),
led_color_7(LED_OFF),
led_color_8(LED_OFF),
led_blink(LED_NOBLINK),
systemstate_run(false)
{
@@ -374,7 +379,7 @@ BlinkM::led()
static int num_of_cells = 0;
static int detected_cells_runcount = 0;
static int t_led_color[6] = { 0, 0, 0, 0, 0, 0};
static int t_led_color[8] = { 0, 0, 0, 0, 0, 0, 0, 0};
static int t_led_blink = 0;
static int led_thread_runcount=0;
static int led_interval = 1000;
@@ -416,6 +421,8 @@ BlinkM::led()
t_led_color[4] = LED_PURPLE;
}
t_led_color[5] = LED_OFF;
t_led_color[6] = LED_OFF;
t_led_color[7] = LED_OFF;
t_led_blink = LED_BLINK;
} else {
t_led_color[0] = led_color_1;
@@ -424,6 +431,8 @@ BlinkM::led()
t_led_color[3] = led_color_4;
t_led_color[4] = led_color_5;
t_led_color[5] = led_color_6;
t_led_color[6] = led_color_7;
t_led_color[7] = led_color_8;
t_led_blink = led_blink;
}
led_thread_ready = false;
@@ -434,16 +443,19 @@ BlinkM::led()
setLEDColor(LED_OFF);
led_interval = LED_OFFTIME;
} else {
setLEDColor(t_led_color[(led_thread_runcount / 2) % 6]);
setLEDColor(t_led_color[(led_thread_runcount / 2) % 8]);
//led_interval = (led_thread_runcount & 1) : LED_ONTIME;
led_interval = LED_ONTIME;
}
if (led_thread_runcount == 11) {
if (led_thread_runcount == 15) {
/* obtained data for the first file descriptor */
struct vehicle_status_s vehicle_status_raw;
struct vehicle_gps_position_s vehicle_gps_position_raw;
memset(&vehicle_status_raw, 0, sizeof(vehicle_status_raw));
memset(&vehicle_gps_position_raw, 0, sizeof(vehicle_gps_position_raw));
bool new_data_vehicle_status;
bool new_data_vehicle_gps_position;
@@ -473,7 +485,8 @@ BlinkM::led()
/* get number of used satellites in navigation */
num_of_used_sats = 0;
for(int satloop=0; satloop<20; satloop++) {
//for(int satloop=0; satloop<20; satloop++) {
for(int satloop=0; satloop<sizeof(vehicle_gps_position_raw.satellite_used); satloop++) {
if(vehicle_gps_position_raw.satellite_used[satloop] == 1) {
num_of_used_sats++;
}
@@ -497,6 +510,8 @@ BlinkM::led()
led_color_4 = LED_YELLOW;
led_color_5 = LED_YELLOW;
led_color_6 = LED_YELLOW;
led_color_7 = LED_YELLOW;
led_color_8 = LED_YELLOW;
led_blink = LED_BLINK;
} else if(vehicle_status_raw.battery_warning == VEHICLE_BATTERY_WARNING_ALERT) {
@@ -507,6 +522,8 @@ BlinkM::led()
led_color_4 = LED_RED;
led_color_5 = LED_RED;
led_color_6 = LED_RED;
led_color_7 = LED_RED;
led_color_8 = LED_RED;
led_blink = LED_BLINK;
} else {
@@ -520,6 +537,8 @@ BlinkM::led()
led_color_4 = LED_RED;
led_color_5 = LED_RED;
led_color_6 = LED_RED;
led_color_7 = LED_RED;
led_color_8 = LED_RED;
led_blink = LED_NOBLINK;
} else {
@@ -530,12 +549,14 @@ BlinkM::led()
led_color_4 = LED_OFF;
led_color_5 = LED_OFF;
led_color_6 = LED_OFF;
led_color_7 = LED_OFF;
led_color_8 = LED_OFF;
led_blink = LED_BLINK;
/* handle 4th led - flightmode indicator */
switch((int)vehicle_status_raw.flight_mode) {
case VEHICLE_FLIGHT_MODE_MANUAL:
led_color_4 = LED_OFF;
led_color_4 = LED_AMBER;
break;
case VEHICLE_FLIGHT_MODE_STAB:
@@ -583,6 +604,8 @@ BlinkM::led()
led_color_4 = LED_WHITE;
led_color_5 = LED_WHITE;
led_color_6 = LED_WHITE;
led_color_7 = LED_WHITE;
led_color_8 = LED_WHITE;
led_blink = LED_BLINK;
}
@@ -646,6 +669,9 @@ void BlinkM::setLEDColor(int ledcolor) {
case LED_WHITE: // white
set_rgb(255,255,255);
break;
case LED_AMBER: // amber
set_rgb(255,20,0);
break;
}
}
apps/examples/nsh/nsh_main.c
+38
View File
@@ -46,6 +46,12 @@
#include <errno.h>
#include <nuttx/arch.h>
#if defined(CONFIG_FS_BINFS) && (CONFIG_BUILTIN)
#include <nuttx/binfmt/builtin.h>
#endif
#if defined(CONFIG_LIBC_EXECFUNCS) && defined(CONFIG_EXECFUNCS_SYMTAB)
#include <nuttx/binfmt/symtab.h>
#endif
#include <apps/nsh.h>
@@ -75,6 +81,21 @@
* Public Data
****************************************************************************/
/* If posix_spawn() is enabled as required for CONFIG_NSH_FILE_APPS, then
* a symbol table is needed by the internals of posix_spawn(). The symbol
* table is needed to support ELF and NXFLAT binaries to dynamically link to
* the base code. However, if only the BINFS file system is supported, then
* no Makefile is needed.
*
* This is a kludge to plug the missing file system in the case where BINFS
* is used. REVISIT: This will, of course, be in the way if you want to
* support ELF or NXFLAT binaries!
*/
#if defined(CONFIG_LIBC_EXECFUNCS) && defined(CONFIG_EXECFUNCS_SYMTAB)
const struct symtab_s CONFIG_EXECFUNCS_SYMTAB[1];
#endif
/****************************************************************************
* Private Functions
****************************************************************************/
@@ -98,6 +119,23 @@ int nsh_main(int argc, char *argv[])
up_cxxinitialize();
#endif
/* Make sure that we are using our symbol take */
#if defined(CONFIG_LIBC_EXECFUNCS) && defined(CONFIG_EXECFUNCS_SYMTAB)
exec_setsymtab(CONFIG_EXECFUNCS_SYMTAB, 0);
#endif
/* Register the BINFS file system */
#if defined(CONFIG_FS_BINFS) && (CONFIG_BUILTIN)
ret = builtin_initialize();
if (ret < 0)
{
fprintf(stderr, "ERROR: builtin_initialize failed: %d\n", ret);
exitval = 1;
}
#endif
/* Initialize the NSH library */
nsh_initialize();
apps/nshlib/Kconfig
+10 -1
View File
@@ -14,7 +14,7 @@ config NSH_LIBRARY
if NSH_LIBRARY
config NSH_BUILTIN_APPS
bool "Enable built-in applications"
default y
default n
depends on BUILTIN
---help---
Support external registered, "built-in" applications that can be
@@ -22,6 +22,15 @@ config NSH_BUILTIN_APPS
more information). This options requires support for builtin
applications (BUILTIN).
config NSH_FILE_APPS
bool "Enable execution of program files"
default n
depends on LIBC_EXECFUNCS
---help---
Support execution of program files residing within a file
system. This options requires support for the posix_spawn()
interface (LIBC_EXECFUNCS).
menu "Disable Individual commands"
config NSH_DISABLE_BASE64DEC
apps/nshlib/Makefile
+4
View File
@@ -47,6 +47,10 @@ ifeq ($(CONFIG_NSH_BUILTIN_APPS),y)
CSRCS += nsh_builtin.c
endif
ifeq ($(CONFIG_NSH_FILE_APPS),y)
CSRCS += nsh_fileapps.c
endif
ifeq ($(CONFIG_NSH_ROMFSETC),y)
CSRCS += nsh_romfsetc.c
endif
apps/nshlib/nsh.h
+5
View File
@@ -495,6 +495,11 @@ int nsh_builtin(FAR struct nsh_vtbl_s *vtbl, FAR const char *cmd,
FAR char **argv, FAR const char *redirfile, int oflags);
#endif
#ifdef CONFIG_NSH_FILE_APPS
int nsh_fileapp(FAR struct nsh_vtbl_s *vtbl, FAR const char *cmd,
FAR char **argv, FAR const char *redirfile, int oflags);
#endif
/* Working directory support */
#if CONFIG_NFILE_DESCRIPTORS > 0 && !defined(CONFIG_DISABLE_ENVIRON)
apps/nshlib/nsh_builtin.c
+49 -14
View File
@@ -116,8 +116,8 @@ int nsh_builtin(FAR struct nsh_vtbl_s *vtbl, FAR const char *cmd,
{
int ret = OK;
/* Lock the scheduler to prevent the application from running until the
* waitpid() has been called.
/* Lock the scheduler in an attempt to prevent the application from
* running until waitpid() has been called.
*/
sched_lock();
@@ -129,16 +129,20 @@ int nsh_builtin(FAR struct nsh_vtbl_s *vtbl, FAR const char *cmd,
ret = exec_builtin(cmd, (FAR const char **)argv, redirfile, oflags);
if (ret >= 0)
{
/* The application was successfully started (but still blocked because
* the scheduler is locked). If the application was not backgrounded,
* then we need to wait here for the application to exit. These really
* only works works with the following options:
/* The application was successfully started with pre-emption disabled.
* In the simplest cases, the application will not have run because the
* the scheduler is locked. But in the case where I/O was redirected, a
* proxy task ran and broke our lock. As result, the application may
* have aso ran if its priority was higher than than the priority of
* this thread.
*
* If the application did not run to completion and if the application
* was not backgrounded, then we need to wait here for the application
* to exit. This only works works with the following options:
*
* - CONFIG_NSH_DISABLEBG - Do not run commands in background
* - CONFIG_SCHED_WAITPID - Required to run external commands in
* foreground
*
* These concepts do not apply cleanly to the external applications.
*/
#ifdef CONFIG_SCHED_WAITPID
@@ -154,15 +158,46 @@ int nsh_builtin(FAR struct nsh_vtbl_s *vtbl, FAR const char *cmd,
{
int rc = 0;
/* Wait for the application to exit. Since we have locked the
* scheduler above, we know that the application has not yet
* started and there is no possibility that it has already exited.
* The scheduler will be unlocked while waitpid is waiting and the
* application will be able to run.
/* Wait for the application to exit. We did lock the scheduler
* above, but that does not guarantee that the application did not
* already run to completion in the case where I/O was redirected.
* Here the scheduler will be unlocked while waitpid is waiting
* and if the application has not yet run, it will now be able to
* do so.
*
* Also, if CONFIG_SCHED_HAVE_PARENT is defined waitpid() might fail
* even if task is still active: If the I/O was re-directed by a
* proxy task, then the ask is a child of the proxy, and not this
* task. waitpid() fails with ECHILD in either case.
*/
ret = waitpid(ret, &rc, 0);
if (ret >= 0)
if (ret < 0)
{
/* If the child thread does not exist, waitpid() will return
* the error ECHLD. Since we know that the task was successfully
* started, this must be one of the cases described above; we
* have to assume that the task already exit'ed. In this case,
* we have no idea if the application ran successfully or not
* (because NuttX does not retain exit status of child tasks).
* Let's assume that is did run successfully.
*/
int errcode = errno;
if (errcode == ECHILD)
{
ret = OK;
}
else
{
nsh_output(vtbl, g_fmtcmdfailed, cmd, "waitpid",
NSH_ERRNO_OF(errcode));
}
}
/* Waitpid completed the wait successfully */
else
{
/* We can't return the exact status (nsh has nowhere to put it)
* so just pass back zero/nonzero in a fashion that doesn't look
apps/nshlib/nsh_fileapps.c
+314
View File
@@ -0,0 +1,314 @@
/****************************************************************************
* apps/nshlib/nsh_fileapps.c
*
* Copyright (C) 2013 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* 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 NuttX 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.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#ifdef CONFIG_SCHED_WAITPID
# include <sys/wait.h>
#endif
#include <stdbool.h>
#include <spawn.h>
#include <errno.h>
#include <string.h>
#include "nsh.h"
#include "nsh_console.h"
#ifdef CONFIG_NSH_FILE_APPS
/****************************************************************************
* Definitions
****************************************************************************/
/****************************************************************************
* Private Types
****************************************************************************/
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
/****************************************************************************
* Private Data
****************************************************************************/
/****************************************************************************
* Public Data
****************************************************************************/
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: nsh_fileapp
*
* Description:
* Attempt to execute the application task whose name is 'cmd'
*
* Returned Value:
* <0 If exec_builtin() fails, then the negated errno value
* is returned.
* -1 (ERROR) if the application task corresponding to 'cmd' could not
* be started (possibly because it doesn not exist).
* 0 (OK) if the application task corresponding to 'cmd' was
* and successfully started. If CONFIG_SCHED_WAITPID is
* defined, this return value also indicates that the
* application returned successful status (EXIT_SUCCESS)
* 1 If CONFIG_SCHED_WAITPID is defined, then this return value
* indicates that the application task was spawned successfully
* but returned failure exit status.
*
****************************************************************************/
int nsh_fileapp(FAR struct nsh_vtbl_s *vtbl, FAR const char *cmd,
FAR char **argv, FAR const char *redirfile, int oflags)
{
posix_spawn_file_actions_t file_actions;
posix_spawnattr_t attr;
pid_t pid;
int ret;
/* Initialize the attributes file actions structure */
ret = posix_spawn_file_actions_init(&file_actions);
if (ret != 0)
{
/* posix_spawn_file_actions_init returns a positive errno value on
* failure.
*/
nsh_output(vtbl, g_fmtcmdfailed, cmd, "posix_spawn_file_actions_init",
NSH_ERRNO_OF(ret));
goto errout;
}
ret = posix_spawnattr_init(&attr);
if (ret != 0)
{
/* posix_spawnattr_init returns a positive errno value on failure. */
nsh_output(vtbl, g_fmtcmdfailed, cmd, "posix_spawnattr_init",
NSH_ERRNO);
goto errout_with_actions;
}
/* Handle re-direction of output */
if (redirfile)
{
ret = posix_spawn_file_actions_addopen(&file_actions, 1, redirfile,
oflags, 0644);
if (ret != 0)
{
/* posix_spawn_file_actions_addopen returns a positive errno
* value on failure.
*/
nsh_output(vtbl, g_fmtcmdfailed, cmd,
"posix_spawn_file_actions_addopen",
NSH_ERRNO);
goto errout_with_attrs;
}
}
/* Lock the scheduler in an attempt to prevent the application from
* running until waitpid() has been called.
*/
sched_lock();
/* Execute the program. posix_spawnp returns a positive errno value on
* failure.
*/
ret = posix_spawnp(&pid, cmd, &file_actions, &attr, &argv[1], NULL);
if (ret == OK)
{
/* The application was successfully started with pre-emption disabled.
* In the simplest cases, the application will not have run because the
* the scheduler is locked. But in the case where I/O was redirected, a
* proxy task ran and broke our lock. As result, the application may
* have aso ran if its priority was higher than than the priority of
* this thread.
*
* If the application did not run to completion and if the application
* was not backgrounded, then we need to wait here for the application
* to exit. This only works works with the following options:
*
* - CONFIG_NSH_DISABLEBG - Do not run commands in background
* - CONFIG_SCHED_WAITPID - Required to run external commands in
* foreground
*/
#ifdef CONFIG_SCHED_WAITPID
/* CONFIG_SCHED_WAITPID is selected, so we may run the command in
* foreground unless we were specifically requested to run the command
* in background (and running commands in background is enabled).
*/
# ifndef CONFIG_NSH_DISABLEBG
if (vtbl->np.np_bg == false)
# endif /* CONFIG_NSH_DISABLEBG */
{
int rc = 0;
/* Wait for the application to exit. We did lock the scheduler
* above, but that does not guarantee that the application did not
* already run to completion in the case where I/O was redirected.
* Here the scheduler will be unlocked while waitpid is waiting
* and if the application has not yet run, it will now be able to
* do so.
*/
ret = waitpid(pid, &rc, 0);
if (ret < 0)
{
/* If the child thread does not exist, waitpid() will return
* the error ECHLD. Since we know that the task was successfully
* started, this must be one of the cases described above; we
* have to assume that the task already exit'ed. In this case,
* we have no idea if the application ran successfully or not
* (because NuttX does not retain exit status of child tasks).
* Let's assume that is did run successfully.
*/
int errcode = errno;
if (errcode == ECHILD)
{
ret = OK;
}
else
{
nsh_output(vtbl, g_fmtcmdfailed, cmd, "waitpid",
NSH_ERRNO_OF(errcode));
}
}
/* Waitpid completed the wait successfully */
else
{
/* We can't return the exact status (nsh has nowhere to put it)
* so just pass back zero/nonzero in a fashion that doesn't look
* like an error.
*/
ret = (rc == 0) ? OK : 1;
/* TODO: Set the environment variable '?' to a string corresponding
* to WEXITSTATUS(rc) so that $? will expand to the exit status of
* the most recently executed task.
*/
}
}
# ifndef CONFIG_NSH_DISABLEBG
else
# endif /* CONFIG_NSH_DISABLEBG */
#endif /* CONFIG_SCHED_WAITPID */
/* We get here if either:
*
* - CONFIG_SCHED_WAITPID is not selected meaning that all commands
* have to be run in background, or
* - CONFIG_SCHED_WAITPID and CONFIG_NSH_DISABLEBG are both selected, but the
* user requested to run the command in background.
*
* NOTE that the case of a) CONFIG_SCHED_WAITPID is not selected and
* b) CONFIG_NSH_DISABLEBG selected cannot be supported. In that event, all
* commands will have to run in background. The waitpid() API must be
* available to support running the command in foreground.
*/
#if !defined(CONFIG_SCHED_WAITPID) || !defined(CONFIG_NSH_DISABLEBG)
{
struct sched_param param;
sched_getparam(ret, &param);
nsh_output(vtbl, "%s [%d:%d]\n", cmd, ret, param.sched_priority);
/* Backgrounded commands always 'succeed' as long as we can start
* them.
*/
ret = OK;
}
#endif /* !CONFIG_SCHED_WAITPID || !CONFIG_NSH_DISABLEBG */
}
sched_unlock();
/* Free attibutes and file actions. Ignoring return values in the case
* of an error.
*/
errout_with_actions:
(void)posix_spawn_file_actions_destroy(&file_actions);
errout_with_attrs:
(void)posix_spawnattr_destroy(&attr);
errout:
/* Most posix_spawn interfaces return a positive errno value on failure
* and do not set the errno variable.
*/
if (ret > 0)
{
/* Set the errno value and return -1 */
set_errno(ret);
ret = ERROR;
}
else if (ret < 0)
{
/* Return -1 on failure. errno should have been set. */
ret = ERROR;
}
return ret;
}
#endif /* CONFIG_NSH_FILE_APPS */
apps/nshlib/nsh_netcmds.c
+3 -2
View File
@@ -53,12 +53,13 @@
#include <errno.h>
#include <debug.h>
#include <net/ethernet.h>
#include <netinet/ether.h>
#include <nuttx/net/net.h>
#include <nuttx/clock.h>
#include <net/ethernet.h>
#include <nuttx/net/uip/uip.h>
#include <nuttx/net/uip/uip-arch.h>
#include <netinet/ether.h>
#ifdef CONFIG_NET_STATISTICS
# include <nuttx/net/uip/uip.h>
apps/nshlib/nsh_parse.c
+36 -1
View File
@@ -61,6 +61,7 @@
#ifdef CONFIG_NSH_BUILTIN_APPS
# include <nuttx/binfmt/builtin.h>
#endif
#include <apps/nsh.h>
#include "nsh.h"
@@ -1398,6 +1399,40 @@ int nsh_parse(FAR struct nsh_vtbl_s *vtbl, char *cmdline)
nsh_output(vtbl, g_fmttoomanyargs, cmd);
}
/* Does this command correspond to an application filename?
* nsh_fileapp() returns:
*
* -1 (ERROR) if the application task corresponding to 'argv[0]' could not
* be started (possibly because it doesn not exist).
* 0 (OK) if the application task corresponding to 'argv[0]' was
* and successfully started. If CONFIG_SCHED_WAITPID is
* defined, this return value also indicates that the
* application returned successful status (EXIT_SUCCESS)
* 1 If CONFIG_SCHED_WAITPID is defined, then this return value
* indicates that the application task was spawned successfully
* but returned failure exit status.
*
* Note the priority if not effected by nice-ness.
*/
#ifdef CONFIG_NSH_FILE_APPS
ret = nsh_fileapp(vtbl, argv[0], argv, redirfile, oflags);
if (ret >= 0)
{
/* nsh_fileapp() returned 0 or 1. This means that the builtin
* command was successfully started (although it may not have ran
* successfully). So certainly it is not an NSH command.
*/
return nsh_saveresult(vtbl, ret != OK);
}
/* No, not a built in command (or, at least, we were unable to start a
* builtin command of that name). Treat it like an NSH command.
*/
#endif
/* Does this command correspond to a builtin command?
* nsh_builtin() returns:
*
@@ -1414,7 +1449,7 @@ int nsh_parse(FAR struct nsh_vtbl_s *vtbl, char *cmdline)
* Note the priority if not effected by nice-ness.
*/
#ifdef CONFIG_NSH_BUILTIN_APPS
#if defined(CONFIG_NSH_BUILTIN_APPS) && (!defined(CONFIG_NSH_FILE_APPS) || !defined(CONFIG_FS_BINFS))
ret = nsh_builtin(vtbl, argv[0], argv, redirfile, oflags);
if (ret >= 0)
{