mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
a5bfc3fbc2
* Removed exit after dsp signature generation. * First full test suite * Cleaned up the muorb tests * Improved VOXL 2 self test trigger in startup file * Removed unneeded include file
87 lines
2.9 KiB
C++
87 lines
2.9 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2022 ModalAI, Inc. All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* 1. Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* 2. Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in
|
|
* the documentation and/or other materials provided with the
|
|
* distribution.
|
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
|
* used to endorse or promote products derived from this software
|
|
* without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
****************************************************************************/
|
|
|
|
#include <string.h>
|
|
#include "uORBAppsProtobufChannel.hpp"
|
|
|
|
extern "C" { __EXPORT int muorb_main(int argc, char *argv[]); }
|
|
|
|
static void usage()
|
|
{
|
|
PX4_INFO("Usage: muorb 'start', 'test', 'stop', 'status'");
|
|
}
|
|
|
|
static bool enable_debug = false;
|
|
|
|
int
|
|
muorb_main(int argc, char *argv[])
|
|
{
|
|
if (argc < 2) {
|
|
usage();
|
|
return -EINVAL;
|
|
}
|
|
|
|
// TODO: Add an optional start parameter to control debug messages
|
|
if (!strcmp(argv[1], "start")) {
|
|
// Register the protobuf channel with UORB.
|
|
uORB::AppsProtobufChannel *channel = uORB::AppsProtobufChannel::GetInstance();
|
|
|
|
if (channel && channel->Initialize(enable_debug)) { return OK; }
|
|
|
|
} else if (!strcmp(argv[1], "test")) {
|
|
uORB::AppsProtobufChannel *channel = uORB::AppsProtobufChannel::GetInstance();
|
|
|
|
if (channel && channel->Initialize(enable_debug) && channel->Test()) { return OK; }
|
|
|
|
} else if (!strcmp(argv[1], "stop")) {
|
|
if (uORB::AppsProtobufChannel::isInstance() == false) {
|
|
PX4_WARN("muorb not running");
|
|
}
|
|
|
|
return OK;
|
|
|
|
} else if (!strcmp(argv[1], "status")) {
|
|
if (uORB::AppsProtobufChannel::isInstance()) {
|
|
PX4_INFO("muorb initialized");
|
|
|
|
} else {
|
|
PX4_INFO("muorb not running");
|
|
}
|
|
|
|
return OK;
|
|
}
|
|
|
|
usage();
|
|
return -EINVAL;
|
|
}
|