forked from Archive/PX4-Autopilot
Clean up of app.h
app.h, generated from app.h_in, has unnecessary code duplication and isn't a header file (it defines globals, static functions and doesn't have a header guard, moreover, it has a 'using namespace std;'). Because of this, a real headerfile that declares the stuff defined in apps.h was missing leading to even more code duplication: scattered forward declarations in .cpp files and an often repeated type of std::map<std::string, px4_main_t>. This patch moves cmake/qurt/apps.h_in to src/platforms/apps.cpp.in (with some changes) and removes cmake/posix/apps.h_in. Then src/platforms/apps.cpp.in is split into src/platforms/apps.cpp.in and src/platforms/apps.h.in, splitting declarations from definitions. A typedef is defined for the map (apps_map_type). The main difference between cmake/posix/apps.h_in and cmake/qurt/apps.h_in was that the first defined a global 'apps', while qurt stores the apps in QShell. I opted to get rid of the global variable (which are in general evil for various reasons) and used the API of cmake/qurt/apps.h_in where a provided 'apps' map is initialized with a call to init_app_map. Thus removing the existing code duplication.
This commit is contained in:
Carlo Wood
Julian Oes
parent
c200ef88ed
commit
6fc30c76a6
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@ -1,88 +0,0 @@
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/* builtin command list - automatically generated, do not edit */
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#include <string>
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#include <map>
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#include <stdio.h>
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#include <px4_tasks.h>
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#include <px4_posix.h>
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#include <px4_log.h>
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#include <stdlib.h>
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using namespace std;
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extern void px4_show_devices(void);
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extern "C" {
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${builtin_apps_decl_string}
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static int shutdown_main(int argc, char *argv[]);
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static int list_tasks_main(int argc, char *argv[]);
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static int list_files_main(int argc, char *argv[]);
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static int list_devices_main(int argc, char *argv[]);
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static int list_topics_main(int argc, char *argv[]);
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static int sleep_main(int argc, char *argv[]);
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}
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static map<string,px4_main_t> app_map(void)
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{
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static map<string,px4_main_t> apps;
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${builtin_apps_string}
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apps["shutdown"] = shutdown_main;
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apps["list_tasks"] = list_tasks_main;
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apps["list_files"] = list_files_main;
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apps["list_devices"] = list_devices_main;
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apps["list_topics"] = list_topics_main;
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apps["sleep"] = sleep_main;
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return apps;
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}
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map<string,px4_main_t> apps = app_map();
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static void list_builtins(void)
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{
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cout << "Builtin Commands:" << endl;
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for (map<string,px4_main_t>::iterator it=apps.begin(); it!=apps.end(); ++it)
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cout << '\t' << it->first << endl;
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}
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static int shutdown_main(int argc, char *argv[])
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{
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printf("Shutting down\n");
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exit(0);
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}
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static int list_tasks_main(int argc, char *argv[])
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{
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px4_show_tasks();
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return 0;
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}
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static int list_devices_main(int argc, char *argv[])
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{
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px4_show_devices();
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return 0;
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}
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static int list_topics_main(int argc, char *argv[])
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{
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px4_show_topics();
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return 0;
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}
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static int list_files_main(int argc, char *argv[])
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{
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px4_show_files();
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return 0;
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}
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static int sleep_main(int argc, char *argv[])
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{
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if (argc != 2) {
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cout << "Usage: sleep <seconds>" << endl;
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return 1;
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}
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sleep(atoi(argv[1]));
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return 0;
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}
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@ -66,7 +66,7 @@ list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake/posix)
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# MODULE_LIST : list of modules
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#
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# Output:
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# OUT : generated builtin_commands.c src
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# OUT : stem of generated apps.cpp/apps.h ("apps")
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#
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# Example:
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# px4_posix_generate_builtin_commands(
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@ -97,12 +97,14 @@ function(px4_posix_generate_builtin_commands)
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set(builtin_apps_string
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"${builtin_apps_string}\tapps[\"${MAIN}\"] = ${MAIN}_main;\n")
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set(builtin_apps_decl_string
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"${builtin_apps_decl_string}extern int ${MAIN}_main(int argc, char *argv[]);\n")
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"${builtin_apps_decl_string}int ${MAIN}_main(int argc, char *argv[]);\n")
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math(EXPR command_count "${command_count}+1")
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endif()
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endforeach()
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configure_file(${PX4_SOURCE_DIR}/cmake/posix/apps.h_in
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${OUT})
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configure_file(${PX4_SOURCE_DIR}/src/platforms/apps.cpp.in
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${OUT}.cpp)
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configure_file(${PX4_SOURCE_DIR}/src/platforms/apps.h.in
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${OUT}.h)
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endfunction()
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#=============================================================================
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@ -1,84 +0,0 @@
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/* builtin command list - automatically generated, do not edit */
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#include <string>
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#include <map>
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#include <stdio.h>
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#include <px4_tasks.h>
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#include <px4_posix.h>
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#include <px4_log.h>
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#include <stdlib.h>
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using namespace std;
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extern void px4_show_devices(void);
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extern "C" {
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${builtin_apps_decl_string}
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static int shutdown_main(int argc, char *argv[]);
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static int list_tasks_main(int argc, char *argv[]);
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static int list_files_main(int argc, char *argv[]);
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static int list_devices_main(int argc, char *argv[]);
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static int list_topics_main(int argc, char *argv[]);
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static int sleep_main(int argc, char *argv[]);
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}
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void init_app_map(map<string,px4_main_t> &apps)
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{
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${builtin_apps_string}
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apps["shutdown"] = shutdown_main;
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apps["list_tasks"] = list_tasks_main;
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apps["list_files"] = list_files_main;
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apps["list_devices"] = list_devices_main;
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apps["list_topics"] = list_topics_main;
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apps["sleep"] = sleep_main;
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}
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void list_builtins(map<string,px4_main_t> &apps)
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{
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PX4_INFO("Builtin Commands:\\n");
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for (map<string,px4_main_t>::iterator it=apps.begin(); it!=apps.end(); ++it)
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PX4_INFO("%s : 0x%x\n", (it->first).c_str(), it->second);
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}
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static int shutdown_main(int argc, char *argv[])
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{
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printf("Shutting down\\n");
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exit(0);
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}
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static int list_tasks_main(int argc, char *argv[])
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{
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px4_show_tasks();
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return 0;
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}
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static int list_devices_main(int argc, char *argv[])
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{
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px4_show_devices();
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return 0;
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}
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static int list_topics_main(int argc, char *argv[])
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{
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px4_show_topics();
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return 0;
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}
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static int list_files_main(int argc, char *argv[])
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{
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px4_show_files();
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return 0;
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}
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static int sleep_main(int argc, char *argv[])
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{
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if (argc != 2) {
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PX4_WARN( "Usage: sleep <seconds>" );
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return 1;
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}
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unsigned long usecs = ( (unsigned long) atol( argv[1] ) ) * 1000 * 1000;
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PX4_WARN("Sleeping for %s, %ld",argv[1],usecs);
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usleep( usecs );
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return 0;
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}
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@ -67,7 +67,7 @@ list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake/qurt)
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# MODULE_LIST : list of modules
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#
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# Output:
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# OUT : generated builtin_commands.c src
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# OUT : stem of generated apps.cpp/apps.h ("apps").
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#
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# Example:
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# px4_qurt_generate_builtin_commands(
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@ -91,11 +91,14 @@ function(px4_qurt_generate_builtin_commands)
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set(builtin_apps_string
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"${builtin_apps_string}\tapps[\"${MAIN}\"] = ${MAIN}_main;\n")
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set(builtin_apps_decl_string
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"${builtin_apps_decl_string}extern int ${MAIN}_main(int argc, char *argv[]);\n")
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"${builtin_apps_decl_string}int ${MAIN}_main(int argc, char *argv[]);\n")
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math(EXPR command_count "${command_count}+1")
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endif()
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endforeach()
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configure_file(${PX4_SOURCE_DIR}/cmake/qurt/apps.h_in ${OUT})
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configure_file(${PX4_SOURCE_DIR}/src/platforms/apps.cpp.in
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${OUT}.cpp)
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configure_file(${PX4_SOURCE_DIR}/src/platforms/apps.h.in
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${OUT}.h)
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endfunction()
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#=============================================================================
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@ -41,7 +41,6 @@
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#include "qshell.h"
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#include <px4_log.h>
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#include <px4_tasks.h>
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#include <px4_time.h>
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#include <px4_posix.h>
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#include <px4_middleware.h>
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@ -63,17 +62,11 @@
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#define MAX_ARGS 8 // max number of whitespace separated args after app name
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extern void init_app_map(std::map<std::string, px4_main_t> &apps);
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extern void list_builtins(std::map<std::string, px4_main_t> &apps);
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using std::map;
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using std::string;
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px4::AppState QShell::appState;
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QShell::QShell()
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{
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init_app_map(apps);
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init_app_map(m_apps);
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}
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int QShell::main()
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@ -150,12 +143,12 @@ int QShell::run_cmd(const std::vector<std::string> &appargs)
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std::string command = appargs[0];
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if (command.compare("help") == 0) {
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list_builtins(apps);
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list_builtins(m_apps);
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return 0;
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}
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//replaces app.find with iterator code to avoid null pointer exception
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for (map<string, px4_main_t>::iterator it = apps.begin(); it != apps.end(); ++it) {
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for (apps_map_type::iterator it = m_apps.begin(); it != m_apps.end(); ++it) {
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if (it->first == command) {
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// one for command name, one for null terminator
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const char *arg[MAX_ARGS + 2];
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@ -176,11 +169,11 @@ int QShell::run_cmd(const std::vector<std::string> &appargs)
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arg[i] = (char *)0;
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//PX4_DEBUG_PRINTF(i);
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if (apps[command] == NULL) {
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if (m_apps[command] == NULL) {
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PX4_ERR("Null function !!\n");
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} else {
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return apps[command](i, (char **)arg);
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return m_apps[command](i, (char **)arg);
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}
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}
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@ -41,11 +41,10 @@
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#pragma once
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#include <px4_app.h>
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#include <px4_defines.h>
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#include <map>
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#include <string>
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#include <vector>
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#include "uORB/topics/qshell_req.h"
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#include "apps.h"
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class QShell
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{
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@ -61,6 +60,6 @@ public:
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private:
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struct qshell_req_s m_qshell_req;
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std::map<std::string, px4_main_t> apps;
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apps_map_type m_apps;
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};
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@ -1,7 +1,7 @@
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include_directories(${CMAKE_CURRENT_BINARY_DIR})
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px4_posix_generate_builtin_commands(
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OUT apps.h
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OUT apps
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MODULE_LIST ${module_libraries})
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if ("${BOARD}" STREQUAL "eagle" OR ("${BOARD}" STREQUAL "excelsior"))
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@ -19,7 +19,7 @@ if ("${BOARD}" STREQUAL "eagle" OR ("${BOARD}" STREQUAL "excelsior"))
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SOURCES
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px4muorb_stub.c
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${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp
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apps.h
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apps.cpp
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LINK_LIBS
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-Wl,--start-group
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${module_libraries}
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@ -41,7 +41,7 @@ elseif ("${BOARD}" STREQUAL "rpi")
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px4_add_executable(px4
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${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp
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apps.h
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apps.cpp
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)
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target_link_libraries(px4
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@ -68,7 +68,7 @@ elseif ("${BOARD}" STREQUAL "bebop")
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px4_add_executable(px4
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${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp
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apps.h
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apps.cpp
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)
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if (NOT APPLE)
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@ -98,7 +98,7 @@ else()
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px4_add_executable(px4
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${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp
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apps.h
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apps.cpp
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)
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if (NOT APPLE)
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@ -9,7 +9,7 @@ include_directories(${CMAKE_CURRENT_BINARY_DIR})
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-missing-prototypes")
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px4_qurt_generate_builtin_commands(
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OUT ${PX4_BINARY_DIR}/apps.h
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OUT ${PX4_BINARY_DIR}/apps
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MODULE_LIST ${module_libraries})
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FASTRPC_STUB_GEN(px4muorb.idl)
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@ -23,7 +23,7 @@ if ("${QURT_ENABLE_STUBS}" STREQUAL "1")
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)
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add_executable(px4
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${PX4_BINARY_DIR}/src/firmware/qurt/px4muorb_skel.c
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${PX4_BINARY_DIR}/apps.h)
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${PX4_BINARY_DIR}/apps.cpp)
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target_link_libraries(px4
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-Wl,--start-group
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@ -42,7 +42,7 @@ else()
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QURT_LIB(LIB_NAME px4
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IDL_NAME px4muorb
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SOURCES
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${PX4_BINARY_DIR}/apps.h
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${PX4_BINARY_DIR}/apps.cpp
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LINK_LIBS
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${module_libraries}
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${target_libraries}
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@ -0,0 +1,74 @@
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/* definitions of builtin command list - automatically generated, do not edit */
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#include "px4_posix.h"
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#include "px4_log.h"
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#include "apps.h"
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#include <iostream>
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#include <map>
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#include <string>
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#include <cstdlib>
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extern void px4_show_devices(void);
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void init_app_map(apps_map_type &apps)
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{
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${builtin_apps_string}
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apps["shutdown"] = shutdown_main;
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apps["list_tasks"] = list_tasks_main;
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apps["list_files"] = list_files_main;
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apps["list_devices"] = list_devices_main;
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apps["list_topics"] = list_topics_main;
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apps["sleep"] = sleep_main;
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}
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void list_builtins(apps_map_type &apps)
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{
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PX4_INFO("Builtin Commands:\n");
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for (apps_map_type::iterator it = apps.begin(); it != apps.end(); ++it)
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PX4_INFO("%s : 0x%x\n", it->first.c_str(), it->second);
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}
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int shutdown_main(int argc, char *argv[])
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{
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std::cout << "Shutting down" << std::endl;
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exit(0);
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}
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int list_tasks_main(int argc, char *argv[])
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{
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px4_show_tasks();
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return 0;
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}
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int list_devices_main(int argc, char *argv[])
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{
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px4_show_devices();
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return 0;
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}
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int list_topics_main(int argc, char *argv[])
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{
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px4_show_topics();
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return 0;
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}
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int list_files_main(int argc, char *argv[])
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{
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px4_show_files();
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return 0;
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}
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int sleep_main(int argc, char *argv[])
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{
|
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if (argc != 2) {
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PX4_WARN( "Usage: sleep <seconds>" );
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return 1;
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}
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unsigned long usecs = 1000000UL * atol(argv[1]);
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std::cout << "Sleeping for " << argv[1] << " s; (" << usecs << " us)." << std::endl;
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usleep(usecs);
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return 0;
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}
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|
|
@ -0,0 +1,27 @@
|
|||
/* declarations of builtin command list - automatically generated, do not edit */
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "px4_tasks.h" // px4_main_t
|
||||
#include <map>
|
||||
|
||||
extern "C" {
|
||||
|
||||
${builtin_apps_decl_string}
|
||||
int shutdown_main(int argc, char *argv[]);
|
||||
int list_tasks_main(int argc, char *argv[]);
|
||||
int list_files_main(int argc, char *argv[]);
|
||||
int list_devices_main(int argc, char *argv[]);
|
||||
int list_topics_main(int argc, char *argv[]);
|
||||
int sleep_main(int argc, char *argv[]);
|
||||
|
||||
}
|
||||
|
||||
// Maps an app name to it's function.
|
||||
typedef std::map<std::string, px4_main_t> apps_map_type;
|
||||
|
||||
// Initialize an apps map.
|
||||
void init_app_map(apps_map_type &apps);
|
||||
|
||||
// List an apps map.
|
||||
void list_builtins(apps_map_type &apps);
|
||||
|
|
@ -48,6 +48,8 @@
|
|||
#include <stdio.h>
|
||||
#include "apps.h"
|
||||
#include "px4_middleware.h"
|
||||
#include "px4_posix.h"
|
||||
#include "px4_log.h"
|
||||
#include "DriverFramework.hpp"
|
||||
#include <termios.h>
|
||||
#include <sys/stat.h>
|
||||
|
|
@ -191,6 +193,14 @@ static void print_prompt()
|
|||
|
||||
static void run_cmd(const vector<string> &appargs, bool exit_on_fail, bool silently_fail = false)
|
||||
{
|
||||
static apps_map_type apps;
|
||||
static bool initialized = false;
|
||||
|
||||
if (!initialized) {
|
||||
init_app_map(apps);
|
||||
initialized = true;
|
||||
}
|
||||
|
||||
// command is appargs[0]
|
||||
string command = appargs[0];
|
||||
|
||||
|
|
@ -217,7 +227,7 @@ static void run_cmd(const vector<string> &appargs, bool exit_on_fail, bool silen
|
|||
}
|
||||
|
||||
} else if (command.compare("help") == 0) {
|
||||
list_builtins();
|
||||
list_builtins(apps);
|
||||
|
||||
} else if (command.length() == 0 || command[0] == '#') {
|
||||
// Do nothing
|
||||
|
|
|
|||
|
|
@ -55,8 +55,6 @@
|
|||
|
||||
using namespace std;
|
||||
|
||||
extern void init_app_map(map<string, px4_main_t> &apps);
|
||||
extern void list_builtins(map<string, px4_main_t> &apps);
|
||||
static px4_task_t g_dspal_task = -1;
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
|
@ -70,13 +68,13 @@ void qurt_external_hook(void)
|
|||
{
|
||||
}
|
||||
|
||||
static void run_cmd(map<string, px4_main_t> &apps, const vector<string> &appargs)
|
||||
static void run_cmd(apps_map_type &apps, const vector<string> &appargs)
|
||||
{
|
||||
// command is appargs[0]
|
||||
string command = appargs[0];
|
||||
|
||||
//replaces app.find with iterator code to avoid null pointer exception
|
||||
for (map<string, px4_main_t>::iterator it = apps.begin(); it != apps.end(); ++it)
|
||||
for (apps_map_type::iterator it = apps.begin(); it != apps.end(); ++it)
|
||||
if (it->first == command) {
|
||||
// one for command name, one for null terminator
|
||||
const char *arg[MAX_ARGS + 2];
|
||||
|
|
@ -117,7 +115,7 @@ void eat_whitespace(const char *&b, int &i)
|
|||
i = 0;
|
||||
}
|
||||
|
||||
static void process_commands(map<string, px4_main_t> &apps, const char *cmds)
|
||||
static void process_commands(apps_map_type &apps, const char *cmds)
|
||||
{
|
||||
vector<string> appargs;
|
||||
int i = 0;
|
||||
|
|
@ -220,7 +218,7 @@ const char *get_commands()
|
|||
int dspal_entry(int argc, char *argv[])
|
||||
{
|
||||
PX4_INFO("In dspal_entry");
|
||||
map<string, px4_main_t> apps;
|
||||
apps_map_type apps;
|
||||
init_app_map(apps);
|
||||
DriverFramework::Framework::initialize();
|
||||
px4::init_once();
|
||||
|
|
|
|||
Loading…
Reference in New Issue