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make navigator work for posix

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Roman 2015-06-01 11:18:15 +02:00 committed by tumbili
parent b688e3b97c
commit 7331ea32ef
1 changed files with 20 additions and 14 deletions
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34
src/modules/navigator/navigator_main.cpp
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@ -44,6 +44,9 @@
*/
#include <px4_config.h>
#include <px4_defines.h>
#include <px4_tasks.h>
#include <px4_posix.h>
#include <stdio.h>
#include <stdlib.h>
@ -174,7 +177,7 @@ Navigator::~Navigator()
/* if we have given up, kill it */
if (++i > 50) {
task_delete(_navigator_task);
px4_task_delete(_navigator_task);
break;
}
} while (_navigator_task != -1);
@ -505,7 +508,7 @@ Navigator::task_main()
warnx("exiting.");
_navigator_task = -1;
_exit(0);
return;
}
int
@ -516,9 +519,9 @@ Navigator::start()
/* start the task */
_navigator_task = px4_task_spawn_cmd("navigator",
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT + 20,
SCHED_PRIORITY_MAX -5,
1700,
(main_t)&Navigator::task_main_trampoline,
(px4_main_t)&Navigator::task_main_trampoline,
nullptr);
if (_navigator_task < 0) {
@ -584,54 +587,57 @@ void Navigator::load_fence_from_file(const char *filename)
static void usage()
{
errx(1, "usage: navigator {start|stop|status|fence|fencefile}");
warnx("usage: navigator {start|stop|status|fence|fencefile}");
}
int navigator_main(int argc, char *argv[])
{
if (argc < 2) {
usage();
return 1;
}
if (!strcmp(argv[1], "start")) {
if (navigator::g_navigator != nullptr) {
errx(1, "already running");
warnx("already running");
return 1;
}
navigator::g_navigator = new Navigator;
if (navigator::g_navigator == nullptr) {
errx(1, "alloc failed");
warnx("alloc failed");
return 1;
}
if (OK != navigator::g_navigator->start()) {
delete navigator::g_navigator;
navigator::g_navigator = nullptr;
err(1, "start failed");
warnx("start failed");
return 1;
}
return 0;
}
if (navigator::g_navigator == nullptr)
errx(1, "not running");
if (navigator::g_navigator == nullptr) {
warnx("not running");
return 1;
}
if (!strcmp(argv[1], "stop")) {
delete navigator::g_navigator;
navigator::g_navigator = nullptr;
} else if (!strcmp(argv[1], "status")) {
navigator::g_navigator->status();
} else if (!strcmp(argv[1], "fence")) {
navigator::g_navigator->add_fence_point(argc - 2, argv + 2);
} else if (!strcmp(argv[1], "fencefile")) {
navigator::g_navigator->load_fence_from_file(GEOFENCE_FILENAME);
} else {
usage();
return 1;
}
return 0;