HAL_QURT: pass argc and argv into main thread

This commit is contained in:
Andrew Tridgell 2015-12-29 18:53:05 +11:00
parent bd2f548130
commit ea1e3f4928
3 changed files with 49 additions and 7 deletions

View File

@ -18,15 +18,34 @@ volatile int _last_dsp_line = __LINE__;
volatile const char *_last_dsp_file = __FILE__; volatile const char *_last_dsp_file = __FILE__;
volatile uint32_t _last_counter; volatile uint32_t _last_counter;
static void *main_thread(void *) static void *main_thread(void *cmdptr)
{ {
char *cmdline = (char *)cmdptr;
HAP_PRINTF("Ardupilot main_thread started"); HAP_PRINTF("Ardupilot main_thread started");
ArduPilot_main(0, NULL);
// break cmdline into argc/argv
int argc = 0;
for (int i=0; cmdline[i]; i++) {
if (cmdline[i] == '\n') argc++;
}
const char **argv = (const char **)calloc(argc+2, sizeof(char *));
argv[0] = &cmdline[0];
argc = 0;
for (int i=0; cmdline[i]; i++) {
if (cmdline[i] == '\n') {
cmdline[i] = 0;
argv[argc+1] = &cmdline[i+1];
argc++;
}
}
argv[argc] = nullptr;
ArduPilot_main(argc, argv);
return NULL; return NULL;
} }
uint32_t ardupilot_start() uint32_t ardupilot_start(const char *cmdline, int len)
{ {
HAP_PRINTF("Starting Ardupilot"); HAP_PRINTF("Starting Ardupilot");
pthread_attr_t thread_attr; pthread_attr_t thread_attr;
@ -39,7 +58,7 @@ uint32_t ardupilot_start()
param.sched_priority = APM_MAIN_PRIORITY; param.sched_priority = APM_MAIN_PRIORITY;
(void)pthread_attr_setschedparam(&thread_attr, &param); (void)pthread_attr_setschedparam(&thread_attr, &param);
pthread_create(&thread_ctx, &thread_attr, main_thread, NULL); pthread_create(&thread_ctx, &thread_attr, main_thread, (void *)strdup((char*)cmdline));
return 0; return 0;
} }

View File

@ -108,6 +108,27 @@ static void socket_check(void)
} }
} }
/*
encode argv/argv as a sequence separated by \n
*/
static char *encode_argv(int argc, const char *argv[])
{
uint32_t len = 0;
for (int i=0; i<argc; i++) {
len += strlen(argv[i]) + 1;
}
char *ret = (char *)malloc(len+1);
char *p = ret;
for (int i=0; i<argc; i++) {
size_t slen = strlen(argv[i]);
strcpy(p, argv[i]);
p[slen] = '\n';
p += slen + 1;
}
*p = 0;
return ret;
}
/* /*
main program main program
*/ */
@ -118,7 +139,9 @@ int main(int argc, const char *argv[])
printf("Starting DSP code\n"); printf("Starting DSP code\n");
send_storage(); send_storage();
ardupilot_start(); char *cmdline = encode_argv(argc, argv);
ardupilot_start(cmdline, strlen(cmdline));
free(cmdline);
while (true) { while (true) {
uint64_t now = micros64(); uint64_t now = micros64();
if (now - last_get_storage_us > 1000*1000) { if (now - last_get_storage_us > 1000*1000) {

View File

@ -2,7 +2,7 @@
interface ardupilot { interface ardupilot {
// start main thread // start main thread
uint32 start(); uint32 start(in sequence<char> cmdline);
// a heartbeat for debugging // a heartbeat for debugging
uint32 heartbeat(); uint32 heartbeat();