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d13836eb1e
You can now add `DYNAMIC` as an option to `px4_add_module`, which will
cause that module to no longer be compiled into the px4 executable, but
instead produce a separate shared library file, which can be loaded and
executed with the new `dyn` command:
pxh> dyn ./hello.px4mod start
This will load the shared object file `hello.px4mod` if it wasn't
already loaded, and execute its main function with the given arguments.
92 lines
2.7 KiB
C++
92 lines
2.7 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2018 PX4 Development Team. 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 dyn.cpp
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*
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* @author Mara Bos <m-ou.se@m-ou.se>
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*/
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#include <dlfcn.h>
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#include <px4_module.h>
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#include <px4_log.h>
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static void usage();
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extern "C" {
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__EXPORT int dyn_main(int argc, char *argv[]);
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}
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static void usage()
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{
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PRINT_MODULE_DESCRIPTION(
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R"(
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### Description
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Load and run a dynamic PX4 module, which was not compiled into the PX4 binary.
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### Example
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$ dyn ./hello.px4mod start
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)");
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PRINT_MODULE_USAGE_NAME_SIMPLE("dyn", "command");
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PRINT_MODULE_USAGE_ARG("<file>", "File containing the module", false);
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PRINT_MODULE_USAGE_ARG("arguments...", "Arguments to the module", true);
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}
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int dyn_main(int argc, char *argv[]) {
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if (argc < 2) {
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usage();
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return 1;
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}
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void *handle = dlopen(argv[1], RTLD_NOW);
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if (!handle) {
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PX4_ERR("%s", dlerror());
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return 1;
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}
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void *main_address = dlsym(handle, "px4_module_main");
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if (!main_address) {
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PX4_ERR("%s", dlerror());
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dlclose(handle);
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return 1;
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}
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auto main_function = (int (*)(int, char **))main_address;
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return main_function(argc - 1, argv + 1);
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}
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