From ba19abd1db7fd0c61118b70aeef7bf66d6c0ffe2 Mon Sep 17 00:00:00 2001 From: Jukka Laitinen Date: Mon, 22 Feb 2021 10:30:49 +0200 Subject: [PATCH] uORB: Create separate systemcmds for kernel and userspace in protected build Signed-off-by: Jukka Laitinen --- src/systemcmds/kuorb/CMakeLists.txt | 41 +++++++++++++++++++++++++++++ src/systemcmds/uorb/uorb.cpp | 13 ++++++--- 2 files changed, 51 insertions(+), 3 deletions(-) create mode 100644 src/systemcmds/kuorb/CMakeLists.txt diff --git a/src/systemcmds/kuorb/CMakeLists.txt b/src/systemcmds/kuorb/CMakeLists.txt new file mode 100644 index 0000000000..df6b70305a --- /dev/null +++ b/src/systemcmds/kuorb/CMakeLists.txt @@ -0,0 +1,41 @@ +############################################################################ +# +# Copyright (c) 2021 Technology Innovation Institute. 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. +# +############################################################################ + +px4_add_module( + MODULE systemcmds__kuorb + MAIN kuorb + COMPILE_FLAGS + SRCS + ../uorb/uorb.cpp + DEPENDS + ) diff --git a/src/systemcmds/uorb/uorb.cpp b/src/systemcmds/uorb/uorb.cpp index b9fb565c14..d73142ab68 100644 --- a/src/systemcmds/uorb/uorb.cpp +++ b/src/systemcmds/uorb/uorb.cpp @@ -38,11 +38,10 @@ #include #include -extern "C" { __EXPORT int uorb_main(int argc, char *argv[]); } - static void usage(); -int uorb_main(int argc, char *argv[]) +extern "C" int +uorb_main(int argc, char *argv[]) { if (argc < 2) { usage(); @@ -63,6 +62,14 @@ int uorb_main(int argc, char *argv[]) return 0; } +#if defined(__PX4_NUTTX) && !defined(CONFIG_BUILD_FLAT) +extern "C" int +kuorb_main(int argc, char *argv[]) +{ + return uorb_main(argc, argv); +} +#endif + void usage() { PRINT_MODULE_DESCRIPTION(