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Linux: Added thread safe getopt

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The getopt command uses global variables and is not thread safe.

Created a minimal px4_getopt version that supports options with
or without an arg, and random placement of options on the command line.

This version modifies the order of the args in argv as does the
POSIX version of getopt.

This assumes that argv[0] is the program name. Nuttx may not support
that properly in task_spawn.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2015-04-20 11:35:47 -07:00
parent b86b334c2f
commit eab32572f4
7 changed files with 235 additions and 36 deletions
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src/modules/mavlink/mavlink_main_linux.cpp
+12 -13
View File
@@ -40,6 +40,7 @@
*/
#include <px4_config.h>
#include <px4_getopt.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
@@ -1199,38 +1200,36 @@ Mavlink::task_main(int argc, char *argv[])
_datarate = 0;
_mode = MAVLINK_MODE_NORMAL;
/* work around some stupidity in task_create's argv handling */
argc -= 2;
argv += 2;
/* don't exit from getopt loop to leave getopt global variables in consistent state,
* set error flag instead */
bool err_flag = false;
int myoptind=1;
const char *myoptarg = NULL;
while ((ch = getopt(argc, argv, "b:r:d:m:fpvwx")) != EOF) {
while ((ch = px4_getopt(argc, argv, "b:r:d:m:fpvwx", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'b':
_baudrate = strtoul(optarg, NULL, 10);
_baudrate = strtoul(myoptarg, NULL, 10);
if (_baudrate < 9600 || _baudrate > 921600) {
warnx("invalid baud rate '%s'", optarg);
warnx("invalid baud rate '%s'", myoptarg);
err_flag = true;
}
break;
case 'r':
_datarate = strtoul(optarg, NULL, 10);
_datarate = strtoul(myoptarg, NULL, 10);
if (_datarate < 10 || _datarate > MAX_DATA_RATE) {
warnx("invalid data rate '%s'", optarg);
warnx("invalid data rate '%s'", myoptarg);
err_flag = true;
}
break;
case 'd':
_device_name = optarg;
_device_name = myoptarg;
break;
// case 'e':
@@ -1238,13 +1237,13 @@ Mavlink::task_main(int argc, char *argv[])
// break;
case 'm':
if (strcmp(optarg, "custom") == 0) {
if (strcmp(myoptarg, "custom") == 0) {
_mode = MAVLINK_MODE_CUSTOM;
} else if (strcmp(optarg, "camera") == 0) {
} else if (strcmp(myoptarg, "camera") == 0) {
// left in here for compatibility
_mode = MAVLINK_MODE_ONBOARD;
} else if (strcmp(optarg, "onboard") == 0) {
} else if (strcmp(myoptarg, "onboard") == 0) {
_mode = MAVLINK_MODE_ONBOARD;
}