POSIX: ported px4_daemon_app

Signed-off-by: Mark Charlebois <charlebm@gmail.com>

src/examples/px4_daemon_app/px4_daemon_app.c

@@ -75,7 +75,7 @@ usage(const char *reason)
 		warnx("%s\n", reason);
 	}
 
-	errx(1, "usage: daemon {start|stop|status} [-p <additional params>]\n\n");
+	warnx("usage: daemon {start|stop|status} [-p <additional params>]\n\n");
 }
 
 /**
@@ -90,6 +90,7 @@ int px4_daemon_app_main(int argc, char *argv[])
 {
 	if (argc < 2) {
 		usage("missing command");
+		return 1;
 	}
 
 	if (!strcmp(argv[1], "start")) {
@@ -97,22 +98,22 @@ int px4_daemon_app_main(int argc, char *argv[])
 		if (thread_running) {
 			warnx("daemon already running\n");
 			/* this is not an error */
-			exit(0);
+			return 0;
 		}
 
 		thread_should_exit = false;
-		daemon_task = task_spawn_cmd("daemon",
+		daemon_task = px4_task_spawn_cmd("daemon",
 					     SCHED_DEFAULT,
 					     SCHED_PRIORITY_DEFAULT,
 					     2000,
 					     px4_daemon_thread_main,
 					     (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
-		exit(0);
+		return 0;
 	}
 
 	if (!strcmp(argv[1], "stop")) {
 		thread_should_exit = true;
-		exit(0);
+		return 0;
 	}
 
 	if (!strcmp(argv[1], "status")) {
@@ -123,11 +124,11 @@ int px4_daemon_app_main(int argc, char *argv[])
 			warnx("\tnot started\n");
 		}
 
-		exit(0);
+		return 0;
 	}
 
 	usage("unrecognized command");
-	exit(1);
+	return 1;
 }
 
 int px4_daemon_thread_main(int argc, char *argv[])

src/modules/systemlib/systemlib.c

@@ -1,57 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
- *
- * 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 systemlib.c
- * Implementation of commonly used low-level system-call like functions.
- */
-
-#include <px4_tasks.h>
-#include "systemlib.h"
-
-void
-systemreset(bool to_bootloader)
-{
-	px4_systemreset(to_bootloader);
-}
-
-void killall()
-{
-	px4_killall();
-}
-
-int task_spawn_cmd(const char *name, int scheduler, int priority, int stack_size, px4_main_t entry, char * const argv[])
-{
-	return px4_task_spawn_cmd(name, scheduler, priority, stack_size, entry, argv);
-}