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Uncomment the following line in setup.mk and comment out the line above to enable the Linux build. export PX4_TARGET_OS = linux The build uses the clang compiler by default. The final bundled executable is mainapp located in: Build/linux_default.build/mainapp When you run mainapp it will provide a list of the built-in apps. You can type in the commands to run such as: hello_main start Because the Linux build is threaded and does not support tasks or processes, it cannot call errx, exit() _exit(), etc. It also requires unique scoped variables to test if a thread is running or if an application should exit. The px4::AppMgr class was added in px4_app.h for this purpose. The hello sample app demonstrates how this is used. Signed-off-by: Mark Charlebois <charlebm@gmail.com>
56 lines
2.0 KiB
C++
56 lines
2.0 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_main.cpp
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* Example for Linux
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*
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* @author Mark Charlebois <charlebm@gmail.com>
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*/
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#include <px4_middleware.h>
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#include <px4_app.h>
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#include "hello_example.h"
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#include <stdio.h>
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int PX4_MAIN(int argc, char **argv)
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{
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px4::init(argc, argv, "hello");
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printf("hello\n");
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HelloExample hello;
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hello.main();
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printf("goodbye\n");
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return 0;
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}
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