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Qurt qshell implementation (#20736)

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This commit is contained in:
Zachary Lowell
2022-12-09 16:49:41 -05:00
committed by GitHub
parent 8cf13d50a8
commit e4f641e9b5
20 changed files with 964 additions and 8 deletions
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src/modules/muorb/apps/muorb_main.cpp
+9 -1
View File
@@ -57,6 +57,8 @@ muorb_main(int argc, char *argv[])
// Register the protobuf channel with UORB.
uORB::AppsProtobufChannel *channel = uORB::AppsProtobufChannel::GetInstance();
PX4_INFO("Got muorb start command");
if (channel && channel->Initialize(enable_debug)) {
uORB::Manager::get_instance()->set_uorb_communicator(channel);
return OK;
@@ -65,7 +67,13 @@ muorb_main(int argc, char *argv[])
} else if (!strcmp(argv[1], "test")) {
uORB::AppsProtobufChannel *channel = uORB::AppsProtobufChannel::GetInstance();
if (channel && channel->Initialize(enable_debug) && channel->Test()) { return OK; }
PX4_INFO("Got muorb test command");
if (channel && channel->Initialize(enable_debug)) {
uORB::Manager::get_instance()->set_uorb_communicator(channel);
if (channel->Test()) { return OK; }
}
} else if (!strcmp(argv[1], "stop")) {
if (uORB::AppsProtobufChannel::isInstance() == false) {
src/modules/muorb/apps/uORBAppsProtobufChannel.cpp
+12 -7
View File
@@ -219,16 +219,21 @@ bool uORB::AppsProtobufChannel::Test()
bool uORB::AppsProtobufChannel::Initialize(bool enable_debug)
{
fc_callbacks cb = {&ReceiveCallback, &AdvertiseCallback,
&SubscribeCallback, &UnsubscribeCallback
};
if (! _Initialized) {
fc_callbacks cb = { &ReceiveCallback, &AdvertiseCallback,
&SubscribeCallback, &UnsubscribeCallback
};
if (fc_sensor_initialize(enable_debug, &cb) != 0) {
if (enable_debug) { PX4_INFO("Warning: muorb protobuf initalize method failed"); }
if (fc_sensor_initialize(enable_debug, &cb) != 0) {
if (enable_debug) { PX4_INFO("Warning: muorb protobuf initalize method failed"); }
} else {
PX4_INFO("muorb protobuf initalize method succeeded");
_Initialized = true;
}
} else {
PX4_INFO("muorb protobuf initalize method succeeded");
_Initialized = true;
PX4_INFO("AppsProtobufChannel already initialized");
}
return true;
src/modules/muorb/slpi/uORBProtobufChannel.cpp
+14
View File
@@ -192,6 +192,10 @@ static void *test_runner(void *)
return nullptr;
}
__BEGIN_DECLS
extern int slpi_main(int argc, char *argv[]);
__END_DECLS
int px4muorb_orb_initialize(fc_func_ptrs *func_ptrs, int32_t clock_offset_us)
{
hrt_set_absolute_time_offset(clock_offset_us);
@@ -226,6 +230,16 @@ int px4muorb_orb_initialize(fc_func_ptrs *func_ptrs, int32_t clock_offset_us)
uORB::Manager::get_instance()->set_uorb_communicator(
uORB::ProtobufChannel::GetInstance());
const char *argv[3] = { "slpi", "start" };
int argc = 2;
// Make sure that argv has a NULL pointer in the end.
argv[argc] = NULL;
if (slpi_main(argc, (char **) argv)) {
PX4_ERR("slpi failed in %s", __FUNCTION__);
}
px4muorb_orb_initialized = true;
if (_px4_muorb_debug) { PX4_INFO("px4muorb_orb_initialize called"); }