platforms/posix/src: move to platforms/posix/src/px4/common

2026-10-24 00:53:34 +08:00 · 2019-08-30 07:59:44 +02:00
parent 8cbb3852ba
commit fa8165a1c3
33 changed files with 43 additions and 112 deletions
@@ -0,0 +1,107 @@
+/****************************************************************************
+ *
+ *   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 px4_posix_impl.cpp
+ *
+ * PX4 Middleware Wrapper Linux Implementation
+ */
+
+#include <px4_defines.h>
+#include <px4_middleware.h>
+#include <px4_workqueue.h>
+#include <px4_defines.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <signal.h>
+#include <errno.h>
+#include <unistd.h>
+#include <parameters/param.h>
+#include "hrt_work.h"
+#include <drivers/drv_hrt.h>
+#include "px4_time.h"
+#include <pthread.h>
+#include <px4_init.h>
+
+extern pthread_t _shell_task_id;
+
+__BEGIN_DECLS
+
+long PX4_TICKS_PER_SEC = sysconf(_SC_CLK_TCK);
+
+__END_DECLS
+
+namespace px4
+{
+
+void init_once();
+
+void init_once()
+{
+	_shell_task_id = pthread_self();
+	//printf("[init] shell id: %lu\n", (unsigned long)_shell_task_id);
+
+	work_queues_init();
+	hrt_work_queue_init();
+
+	px4_platform_init();
+}
+
+void init(int argc, char *argv[], const char *app_name)
+{
+	printf("\n");
+	printf("______  __   __    ___ \n");
+	printf("| ___ \\ \\ \\ / /   /   |\n");
+	printf("| |_/ /  \\ V /   / /| |\n");
+	printf("|  __/   /   \\  / /_| |\n");
+	printf("| |     / /^\\ \\ \\___  |\n");
+	printf("\\_|     \\/   \\/     |_/\n");
+	printf("\n");
+	printf("%s starting.\n", app_name);
+	printf("\n");
+
+	// set the threads name
+#ifdef __PX4_DARWIN
+	(void)pthread_setname_np(app_name);
+#else
+	(void)pthread_setname_np(pthread_self(), app_name);
+#endif
+}
+
+uint64_t get_time_micros()
+{
+	return hrt_absolute_time();
+}
+
+}
+