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format src/systemcmds/nshterm

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This commit is contained in:
Daniel Agar
2015-09-05 12:21:11 -04:00
parent edf010c6a9
commit 88d58ae051
1 changed files with 75 additions and 70 deletions
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src/systemcmds/nshterm/nshterm.c
+75 -70
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@@ -59,87 +59,92 @@ __EXPORT int nshterm_main(int argc, char *argv[]);
int int
nshterm_main(int argc, char *argv[]) nshterm_main(int argc, char *argv[])
{ {
if (argc < 2) { if (argc < 2) {
printf("Usage: nshterm <device>\n"); printf("Usage: nshterm <device>\n");
exit(1); exit(1);
} }
unsigned retries = 0;
int fd = -1;
int armed_fd = orb_subscribe(ORB_ID(actuator_armed));
struct actuator_armed_s armed;
/* back off 1800 ms to avoid running into the USB setup timing */ unsigned retries = 0;
while (hrt_absolute_time() < 1800U * 1000U) { int fd = -1;
usleep(50000); int armed_fd = orb_subscribe(ORB_ID(actuator_armed));
} struct actuator_armed_s armed;
/* try to bring up the console - stop doing so if the system gets armed */ /* back off 1800 ms to avoid running into the USB setup timing */
while (true) { while (hrt_absolute_time() < 1800U * 1000U) {
usleep(50000);
}
/* abort if an arming topic is published and system is armed */ /* try to bring up the console - stop doing so if the system gets armed */
bool updated = false; while (true) {
orb_check(armed_fd, &updated);
if (updated) {
/* the system is now providing arming status feedback.
* instead of timing out, we resort to abort bringing
* up the terminal.
*/
orb_copy(ORB_ID(actuator_armed), armed_fd, &armed);
if (armed.armed) { /* abort if an arming topic is published and system is armed */
/* this is not an error, but we are done */ bool updated = false;
exit(0); orb_check(armed_fd, &updated);
}
}
/* the retries are to cope with the behaviour of /dev/ttyACM0 */ if (updated) {
/* which may not be ready immediately. */ /* the system is now providing arming status feedback.
fd = open(argv[1], O_RDWR); * instead of timing out, we resort to abort bringing
if (fd != -1) { * up the terminal.
close(armed_fd); */
break; orb_copy(ORB_ID(actuator_armed), armed_fd, &armed);
}
usleep(100000);
retries++;
}
if (fd == -1) {
perror(argv[1]);
exit(1);
}
/* set up the serial port with output processing */ if (armed.armed) {
/* this is not an error, but we are done */
/* Try to set baud rate */ exit(0);
struct termios uart_config; }
int termios_state; }
/* Back up the original uart configuration to restore it after exit */ /* the retries are to cope with the behaviour of /dev/ttyACM0 */
if ((termios_state = tcgetattr(fd, &uart_config)) < 0) { /* which may not be ready immediately. */
warnx("ERR get config %s: %d\n", argv[1], termios_state); fd = open(argv[1], O_RDWR);
close(fd);
return -1;
}
/* Set ONLCR flag (which appends a CR for every LF) */ if (fd != -1) {
uart_config.c_oflag |= (ONLCR | OPOST); close(armed_fd);
break;
}
if ((termios_state = tcsetattr(fd, TCSANOW, &uart_config)) < 0) { usleep(100000);
warnx("ERR set config %s\n", argv[1]); retries++;
close(fd); }
return -1;
}
/* setup standard file descriptors */ if (fd == -1) {
close(0); perror(argv[1]);
close(1); exit(1);
close(2); }
dup2(fd, 0);
dup2(fd, 1);
dup2(fd, 2);
nsh_consolemain(0, NULL); /* set up the serial port with output processing */
close(fd); /* Try to set baud rate */
struct termios uart_config;
int termios_state;
return OK; /* Back up the original uart configuration to restore it after exit */
if ((termios_state = tcgetattr(fd, &uart_config)) < 0) {
warnx("ERR get config %s: %d\n", argv[1], termios_state);
close(fd);
return -1;
}
/* Set ONLCR flag (which appends a CR for every LF) */
uart_config.c_oflag |= (ONLCR | OPOST);
if ((termios_state = tcsetattr(fd, TCSANOW, &uart_config)) < 0) {
warnx("ERR set config %s\n", argv[1]);
close(fd);
return -1;
}
/* setup standard file descriptors */
close(0);
close(1);
close(2);
dup2(fd, 0);
dup2(fd, 1);
dup2(fd, 2);
nsh_consolemain(0, NULL);
close(fd);
return OK;
} }