mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-03 17:10:35 +08:00
Julian Oes
104 lines
2.9 KiB
C++
104 lines
2.9 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2012-2016 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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#include <string.h>
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#include "modules/uORB/uORBManager.hpp"
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#include "uORBKraitFastRpcChannel.hpp"
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extern "C" { __EXPORT int muorb_main(int argc, char *argv[]); }
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static void usage()
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{
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warnx("Usage: muorb 'start', 'stop', 'status'");
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}
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int
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muorb_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 (uORB::KraitFastRpcChannel::isInstance()) {
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PX4_WARN("muorb already running");
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} else {
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// register the fast rpc channel with UORB.
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uORB::Manager::get_instance()->set_uorb_communicator(uORB::KraitFastRpcChannel::GetInstance());
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// start the KaitFastRPC channel thread.
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uORB::KraitFastRpcChannel::GetInstance()->Start();
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}
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return OK;
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}
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if (!strcmp(argv[1], "stop")) {
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if (uORB::KraitFastRpcChannel::isInstance()) {
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uORB::KraitFastRpcChannel::GetInstance()->Stop();
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} else {
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PX4_WARN("muorb not running");
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}
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return OK;
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}
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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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if (uORB::KraitFastRpcChannel::isInstance()) {
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PX4_WARN("muorb running");
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} else {
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PX4_WARN("muorb not running");
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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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