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111 lines
3.4 KiB
C++
111 lines
3.4 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
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* Author: Andrew Tridgell
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file nshterm.c
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*/
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#include <px4_platform_common/px4_config.h>
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#include <px4_platform_common/module.h>
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#include <termios.h>
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#include <stdbool.h>
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#include <stdio.h>
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#include <stdarg.h>
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#include <unistd.h>
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#include <stdlib.h>
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#include <errno.h>
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#include <nshlib/nshlib.h>
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#include <fcntl.h>
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#include <systemlib/err.h>
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#include <drivers/drv_hrt.h>
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static void print_usage()
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{
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PRINT_MODULE_DESCRIPTION("Start an NSH shell on a given port.\n"
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"\n"
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"This was previously used to start a shell on the USB serial port.\n"
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"Now there runs mavlink, and it is possible to use a shell over mavlink.\n"
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);
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PRINT_MODULE_USAGE_NAME_SIMPLE("nshterm", "command");
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PRINT_MODULE_USAGE_ARG("<file:dev>", "Device on which to start the shell (eg. /dev/ttyACM0)", false);
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}
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extern "C" __EXPORT int nshterm_main(int argc, char *argv[])
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{
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if (argc < 2) {
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print_usage();
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return 1;
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}
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/* set up the serial port with output processing */
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int fd = open(argv[1], O_RDWR);
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/* Try to set baud rate */
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struct termios uart_config;
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int termios_state;
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/* Back up the original uart configuration to restore it after exit */
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if ((termios_state = tcgetattr(fd, &uart_config)) < 0) {
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PX4_ERR("get config %s: %d\n", argv[1], termios_state);
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close(fd);
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return -1;
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}
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/* Set ONLCR flag (which appends a CR for every LF) */
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uart_config.c_oflag |= (ONLCR | OPOST);
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if ((termios_state = tcsetattr(fd, TCSANOW, &uart_config)) < 0) {
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PX4_ERR("set config %s\n", argv[1]);
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close(fd);
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return -1;
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}
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/* setup standard file descriptors */
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close(0);
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close(1);
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close(2);
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dup2(fd, 0);
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dup2(fd, 1);
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dup2(fd, 2);
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nsh_consolemain(0, nullptr);
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close(fd);
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PX4_INFO("exiting");
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return 0;
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}
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