mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-16 18:10:36 +08:00
Mark Charlebois
f0312d2da0
The list_tasks and list_devices commands will show lists of running px4 threads and created virtual device nodes. The list_builtins command was removes and the list of commands will be shown if return is pressed. Signed-off-by: Mark Charlebois <charlebm@gmail.com>
89 lines
3.0 KiB
C
89 lines
3.0 KiB
C
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2015 Mark Charlebois. 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.
|
|
*
|
|
****************************************************************************/
|
|
|
|
/**
|
|
* @file px4_posix.h
|
|
*
|
|
* Includes POSIX-like functions for virtual character devices
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <px4_defines.h>
|
|
#include <stdint.h>
|
|
#include <sys/types.h>
|
|
#include <poll.h>
|
|
#include <semaphore.h>
|
|
|
|
|
|
#define PX4_F_RDONLY 1
|
|
#define PX4_F_WRONLY 2
|
|
|
|
#define PX4_DEVIOCGDEVICEID 1
|
|
|
|
#define PX4_DIOC_GETPRIV 2
|
|
#define PX4_DEVIOCSPUBBLOCK 3
|
|
#define PX4_DEVIOCGPUBBLOCK 4
|
|
|
|
#define PX4_DEBUG(...)
|
|
//#define PX4_DEBUG(...) printf(__VA_ARGS__)
|
|
|
|
__BEGIN_DECLS
|
|
|
|
extern int px4_errno;
|
|
|
|
#ifndef __PX4_NUTTX
|
|
typedef short pollevent_t;
|
|
#endif
|
|
|
|
typedef struct {
|
|
/* This part of the struct is POSIX-like */
|
|
int fd; /* The descriptor being polled */
|
|
pollevent_t events; /* The input event flags */
|
|
pollevent_t revents; /* The output event flags */
|
|
|
|
/* Required for PX4 compatability */
|
|
sem_t *sem; /* Pointer to semaphore used to post output event */
|
|
void *priv; /* For use by drivers */
|
|
} px4_pollfd_struct_t;
|
|
|
|
__EXPORT int px4_open(const char *path, int flags);
|
|
__EXPORT int px4_close(int fd);
|
|
__EXPORT ssize_t px4_read(int fd, void *buffer, size_t buflen);
|
|
__EXPORT ssize_t px4_write(int fd, const void *buffer, size_t buflen);
|
|
__EXPORT int px4_ioctl(int fd, int cmd, unsigned long arg);
|
|
__EXPORT int px4_poll(px4_pollfd_struct_t *fds, nfds_t nfds, int timeout);
|
|
__EXPORT void px4_show_devices(void);
|
|
|
|
__END_DECLS
|