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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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6cb26de74c
This adds support for a dynamic build for QuRT and initial Multi-uORB changes to enable communication between the DSP and the application processor. This part of the changes do not affect the POSIX build. This is enablement for the QuRT build using Multi-uORB. The second part of the changes will be added in a new module under src/modules. Signed-off-by: Mark Charlebois <charlebm@gmail.com>
128 lines
3.5 KiB
C++
128 lines
3.5 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2012-2015 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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#include <string.h>
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#include "uORBDevices.hpp"
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#include "uORB.h"
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#include "uORBCommon.hpp"
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#ifndef __PX4_QURT
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#include "uORBTest_UnitTest.hpp"
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#endif
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extern "C" { __EXPORT int uorb_main(int argc, char *argv[]); }
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static uORB::DeviceMaster *g_dev = nullptr;
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static void usage()
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{
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warnx("Usage: uorb 'start', 'test', 'latency_test' or 'status'");
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}
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int
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uorb_main(int argc, char *argv[])
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{
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if (argc < 2) {
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usage();
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return -EINVAL;
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}
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/*
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* Start/load the driver.
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*
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* XXX it would be nice to have a wrapper for this...
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*/
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if (!strcmp(argv[1], "start")) {
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if (g_dev != nullptr) {
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warnx("already loaded");
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/* user wanted to start uorb, its already running, no error */
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return 0;
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}
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/* create the driver */
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g_dev = new uORB::DeviceMaster(uORB::PUBSUB);
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if (g_dev == nullptr) {
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warnx("driver alloc failed");
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return -ENOMEM;
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}
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if (OK != g_dev->init()) {
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warnx("driver init failed");
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delete g_dev;
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g_dev = nullptr;
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return -EIO;
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}
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return OK;
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}
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#ifndef __PX4_QURT
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/*
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* Test the driver/device.
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*/
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if (!strcmp(argv[1], "test"))
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{
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uORBTest::UnitTest &t = uORBTest::UnitTest::instance();
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return t.test();
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}
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/*
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* Test the latency.
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*/
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if (!strcmp(argv[1], "latency_test")) {
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uORBTest::UnitTest &t = uORBTest::UnitTest::instance();
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if (argc > 2 && !strcmp(argv[2], "medium")) {
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return t.latency_test<struct orb_test_medium>(ORB_ID(orb_test_medium), true);
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} else if (argc > 2 && !strcmp(argv[2], "large")) {
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return t.latency_test<struct orb_test_large>(ORB_ID(orb_test_large), true);
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} else {
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return t.latency_test<struct orb_test>(ORB_ID(orb_test), true);
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}
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}
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#endif
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/*
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* Print driver information.
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*/
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if (!strcmp(argv[1], "status"))
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{
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return OK;
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}
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usage();
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return -EINVAL;
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}
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