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Mark Charlebois
0553a68a1a
hello should have been hello_main Signed-off-by: Mark Charlebois <charlebm@gmail.com>
101 lines
3.1 KiB
C++
101 lines
3.1 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2015 Mark Charlebois. All rights reserved.
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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 hello_start_linux.cpp
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*
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* @author Thomas Gubler <thomasgubler@gmail.com>
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* @author Mark Charlebois <mcharleb@gmail.com>
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*/
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#include "hello_example.h"
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#include <px4_app.h>
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#include <px4_tasks.h>
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#include <stdio.h>
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#include <string.h>
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#include <sched.h>
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#define SCHED_DEFAULT SCHED_FIFO
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#define SCHED_PRIORITY_MAX sched_get_priority_max(SCHED_FIFO)
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#define SCHED_PRIORITY_DEFAULT sched_get_priority_max(SCHED_FIFO)
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static int daemon_task; /* Handle of deamon task / thread */
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//using namespace px4;
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extern "C" __EXPORT int hello_main(int argc, char *argv[]);
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int hello_main(int argc, char *argv[])
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{
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if (argc < 2) {
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printf("usage: hello {start|stop|status}\n");
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return 1;
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}
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if (!strcmp(argv[1], "start")) {
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if (HelloExample::mgr.isRunning()) {
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printf("already running\n");
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/* this is not an error */
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return 0;
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}
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daemon_task = px4_task_spawn_cmd("hello",
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SCHED_DEFAULT,
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SCHED_PRIORITY_MAX - 5,
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2000,
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PX4_MAIN,
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(argv) ? (char* const*)&argv[2] : (char* const*)NULL);
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return 0;
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}
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if (!strcmp(argv[1], "stop")) {
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HelloExample::mgr.requestExit();
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return 0;
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}
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if (!strcmp(argv[1], "status")) {
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if (HelloExample::mgr.isRunning()) {
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printf("is running\n");
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} else {
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printf("not started\n");
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}
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return 0;
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}
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printf("usage: hello_main {start|stop|status}\n");
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return 1;
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}
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