QuRT: pthread API now working

The use of std::map and static initialization was an issue.

The code was refactored to not use static initialization.

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

src/platforms/qurt/px4_layer/main.cpp

@@ -0,0 +1,163 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 Mark Charlebois. 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 main.cpp
+ * Basic shell to execute builtin "apps" 
+ *
+ * @author Mark Charlebois <charlebm@gmail.com>
+ */
+
+#include <px4_middleware.h>
+#include <px4_tasks.h>
+#include <px4_posix.h>
+#include <vector>
+#include <string>
+#include <map>
+#include <stdio.h>
+
+using namespace std;
+
+extern void init_app_map(map<string,px4_main_t> &apps);
+extern void list_builtins(map<string,px4_main_t> &apps);
+
+static const char *commands = 
+"hello start"
+#if 0
+"uorb start\n"
+"simulator start -s\n"
+"barosim start\n"
+"adcsim start\n"
+"accelsim start\n"
+"gyrosim start\n"
+"param set CAL_GYRO0_ID 2293760\n"
+"param set CAL_ACC0_ID 1310720\n"
+"param set CAL_ACC1_ID 1376256\n"
+"param set CAL_MAG0_ID 196608\n"
+"rgbled start\n"
+"mavlink start -d /tmp/ttyS0\n"
+"sensors start\n"
+"hil mode_pwm\n"
+"commander start\n"
+"list_devices\n"
+"list_topics\n"
+#endif
+;
+
+static void run_cmd(map<string,px4_main_t> &apps, const vector<string> &appargs) {
+	// command is appargs[0]
+	string command = appargs[0];
+	if (apps.find(command) != apps.end()) {
+		const char *arg[2+1];
+
+		unsigned int i = 0;
+		while (i < appargs.size() && appargs[i].c_str()[0] != '\0') {
+			arg[i] = (char *)appargs[i].c_str();
+			printf("  arg = '%s'\n", arg[i]);
+			++i;
+		}
+		arg[i] = (char *)0;
+		apps[command](i,(char **)arg);
+	}
+	else
+	{
+		list_builtins(apps);
+	}
+}
+
+void eat_whitespace(const char *&b, int &i)
+{
+	// Eat whitespace
+	while (b[i] == ' ' || b[i] == '\t') { ++i; }
+	b = &b[i];
+	i=0;
+}
+
+static void process_commands(map<string,px4_main_t> &apps, const char *cmds)
+{
+	vector<string> appargs;
+	int i=0;
+	const char *b = cmds;
+	bool found_first_char = false;
+	char arg[20];
+
+	// Eat leading whitespace
+	eat_whitespace(b, i);
+
+	for(;;) {
+		// End of command line
+		if (b[i] == '\n' || b[i] == '\0') {
+			strncpy(arg, b, i);
+			arg[i] = '\0';
+			appargs.push_back(arg);
+
+			// If we have a command to run
+			if (appargs.size() > 0) {
+				run_cmd(apps, appargs);
+			}
+			appargs.clear();
+			if (b[i] == '\n') {
+				eat_whitespace(b, ++i);
+				continue;
+			}
+			else {
+				break;
+			}
+		}
+		// End of arg
+		else if (b[i] == ' ') {
+			strncpy(arg, b, i);
+			arg[i] = '\0';
+			appargs.push_back(arg);
+			eat_whitespace(b, ++i);
+			continue;
+		}
+		printf("ch %c\n", b[i]);
+		++i;
+	}
+}
+
+namespace px4 {
+extern void init_once(void);
+};
+
+int main(int argc, char **argv)
+{
+	printf("In main\n");
+	map<string,px4_main_t> apps;
+	init_app_map(apps);
+	px4::init_once();
+	px4::init(argc, argv, "mainapp");
+	process_commands(apps, commands);
+	for (;;) {}
+}
+