mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-02 11:10:36 +08:00
Nicolas
6ac641956a
commands are sent via muOrb to qurt, where they are executed and printed (i.e. visibile on mini-dm)
89 lines
2.8 KiB
C++
89 lines
2.8 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2016 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 qshell.cpp
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* Send shell commands to qurt
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*
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* @author Nicolas de Palezieux <ndepal@gmail.com>
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*/
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#include "qshell.h"
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#include <px4_log.h>
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#include <unistd.h>
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#include <stdio.h>
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#include <string.h>
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#include <string>
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#include <stdlib.h>
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px4::AppState QShell::appState;
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int QShell::main(std::vector<std::string> argList)
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{
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appState.setRunning(true);
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std::string cmd;
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for (int i = 0; i < argList.size(); i++) {
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cmd += argList[i];
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if (i < argList.size() - 1) {
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cmd += " ";
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}
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}
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if (cmd.size() > m_qshell_req.MAX_STRLEN) {
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PX4_ERR("The provided command exceeds the maximum length of characters: %d > %d", (int) cmd.size(),
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(int) m_qshell_req.MAX_STRLEN);
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return -1;
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}
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PX4_DEBUG("Requesting %s", cmd.c_str());
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orb_advert_t pub_id_qshell_req = orb_advertise(ORB_ID(qshell_req), & m_qshell_req);
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m_qshell_req.strlen = cmd.size();
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for (int i = 0; i < cmd.size(); i++) {
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m_qshell_req.string[i] = (int) cmd[i];
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}
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if (orb_publish(ORB_ID(qshell_req), pub_id_qshell_req, &m_qshell_req) == PX4_ERROR) {
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PX4_ERR("Error publishing the qshell_req message");
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return -1;
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}
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appState.setRunning(false);
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return 0;
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}
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