forked from Archive/PX4-Autopilot
413 lines
12 KiB
C
413 lines
12 KiB
C
/****************************************************************************
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* examples/nxconsole/nxcon_main.c
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*
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* Copyright (C) 2012 Gregory Nutt. All rights reserved.
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* Author: Gregory Nutt <gnutt@nuttx.org>
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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 NuttX 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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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <sys/types.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <string.h>
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#include <errno.h>
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#include <debug.h>
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#ifdef CONFIG_NX_LCDDRIVER
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# include <nuttx/lcd/lcd.h>
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#else
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# include <nuttx/fb.h>
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#endif
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#include <nuttx/arch.h>
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#include <nuttx/nx/nx.h>
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#include <nuttx/nx/nxglib.h>
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#include <nuttx/nx/nxfonts.h>
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#include <nuttx/nx/nxconsole.h>
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#include <apps/nsh.h>
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#include "nxcon_internal.h"
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/****************************************************************************
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* Private Types
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****************************************************************************/
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/****************************************************************************
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* Private Function Prototypes
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****************************************************************************/
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/****************************************************************************
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* Private Data
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****************************************************************************/
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/****************************************************************************
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* Public Data
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****************************************************************************/
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/* All example global variables are retained in a structure to minimize
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* the chance of name collisions.
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*/
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struct nxcon_state_s g_nxcon_vars;
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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/****************************************************************************
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* Name: nxcon_initialize
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****************************************************************************/
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static int nxcon_initialize(void)
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{
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struct sched_param param;
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pthread_t thread;
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pid_t servrid;
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int ret;
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/* Set the client task priority */
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param.sched_priority = CONFIG_EXAMPLES_NXCON_CLIENTPRIO;
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ret = sched_setparam(0, ¶m);
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if (ret < 0)
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{
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message("nxcon_initialize: sched_setparam failed: %d\n" , ret);
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return ERROR;
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}
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/* Start the server task */
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message("nxcon_initialize: Starting nxcon_server task\n");
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servrid = task_create("NX Server", CONFIG_EXAMPLES_NXCON_SERVERPRIO,
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CONFIG_EXAMPLES_NXCON_STACKSIZE, nxcon_server, NULL);
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if (servrid < 0)
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{
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message("nxcon_initialize: Failed to create nxcon_server task: %d\n", errno);
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return ERROR;
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}
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/* Wait a bit to let the server get started */
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sleep(1);
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/* Connect to the server */
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g_nxcon_vars.hnx = nx_connect();
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if (g_nxcon_vars.hnx)
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{
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pthread_attr_t attr;
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/* Start a separate thread to listen for server events. This is probably
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* the least efficient way to do this, but it makes this example flow more
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* smoothly.
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*/
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(void)pthread_attr_init(&attr);
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param.sched_priority = CONFIG_EXAMPLES_NXCON_LISTENERPRIO;
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(void)pthread_attr_setschedparam(&attr, ¶m);
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(void)pthread_attr_setstacksize(&attr, CONFIG_EXAMPLES_NXCON_STACKSIZE);
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ret = pthread_create(&thread, &attr, nxcon_listener, NULL);
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if (ret != 0)
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{
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printf("nxcon_initialize: pthread_create failed: %d\n", ret);
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return ERROR;
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}
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/* Don't return until we are connected to the server */
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while (!g_nxcon_vars.connected)
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{
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/* Wait for the listener thread to wake us up when we really
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* are connected.
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*/
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(void)sem_wait(&g_nxcon_vars.eventsem);
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}
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}
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else
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{
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message("nxcon_initialize: nx_connect failed: %d\n", errno);
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return ERROR;
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}
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return OK;
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}
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/****************************************************************************
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* Name: nxcon_task
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****************************************************************************/
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static int nxcon_task(int argc, char **argv)
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{
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/* If the console front end is selected, then run it on this thread */
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#ifdef CONFIG_NSH_CONSOLE
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(void)nsh_consolemain(0, NULL);
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#endif
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printf("nxcon_task: Unregister the NX console device\n");
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(void)nxcon_unregister(g_nxcon_vars.hdrvr);
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printf("nxcon_task: Close the window\n");
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(void)nxtk_closewindow(g_nxcon_vars.hwnd);
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/* Disconnect from the server */
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printf("nxcon_task: Disconnect from the server\n");
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nx_disconnect(g_nxcon_vars.hnx);
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return EXIT_SUCCESS;
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}
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: nxcon_main
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****************************************************************************/
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int nxcon_main(int argc, char **argv)
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{
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nxgl_mxpixel_t color;
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int fd;
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int ret;
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/* General Initialization *************************************************/
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/* Reset all global data */
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message("nxcon_main: Started\n");
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memset(&g_nxcon_vars, 0, sizeof(struct nxcon_state_s));
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/* Call all C++ static constructors */
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#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
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up_cxxinitialize();
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#endif
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/* NSH Initialization *****************************************************/
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/* Initialize the NSH library */
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message("nxcon_main: Initialize NSH\n");
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nsh_initialize();
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/* If the Telnet console is selected as a front-end, then start the
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* Telnet daemon.
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*/
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#ifdef CONFIG_NSH_TELNET
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ret = nsh_telnetstart();
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if (ret < 0)
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{
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/* The daemon is NOT running. Report the the error then fail...
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* either with the serial console up or just exiting.
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*/
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fprintf(stderr, "ERROR: Failed to start TELNET daemon: %d\n", ret);
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}
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#endif
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/* NX Initialization ******************************************************/
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/* Initialize NX */
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message("nxcon_main: Initialize NX\n");
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ret = nxcon_initialize();
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message("nxcon_main: NX handle=%p\n", g_nxcon_vars.hnx);
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if (!g_nxcon_vars.hnx || ret < 0)
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{
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message("nxcon_main: Failed to get NX handle: %d\n", errno);
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goto errout;
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}
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/* Set the background to the configured background color */
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message("nxcon_main: Set background color=%d\n", CONFIG_EXAMPLES_NXCON_BGCOLOR);
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color = CONFIG_EXAMPLES_NXCON_BGCOLOR;
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ret = nx_setbgcolor(g_nxcon_vars.hnx, &color);
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if (ret < 0)
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{
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message("nxcon_main: nx_setbgcolor failed: %d\n", errno);
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goto errout_with_nx;
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}
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/* Window Configuration ***************************************************/
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/* Create a window */
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message("nxcon_main: Create window\n");
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g_nxcon_vars.hwnd = nxtk_openwindow(g_nxcon_vars.hnx, &g_nxconcb, NULL);
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if (!g_nxcon_vars.hwnd)
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{
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message("nxcon_main: nxtk_openwindow failed: %d\n", errno);
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goto errout_with_nx;
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}
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message("nxcon_main: hwnd=%p\n", g_nxcon_vars.hwnd);
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/* Wait until we have the screen resolution. We'll have this immediately
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* unless we are dealing with the NX server.
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*/
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while (!g_nxcon_vars.haveres)
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{
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(void)sem_wait(&g_nxcon_vars.eventsem);
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}
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message("nxcon_main: Screen resolution (%d,%d)\n", g_nxcon_vars.xres, g_nxcon_vars.yres);
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/* Determine the size and position of the window */
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g_nxcon_vars.wndo.wsize.w = g_nxcon_vars.xres / 2 + g_nxcon_vars.xres / 4;
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g_nxcon_vars.wndo.wsize.h = g_nxcon_vars.yres / 2 + g_nxcon_vars.yres / 4;
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g_nxcon_vars.wpos.x = g_nxcon_vars.xres / 8;
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g_nxcon_vars.wpos.y = g_nxcon_vars.yres / 8;
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/* Set the window position */
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message("nxcon_main: Set window position to (%d,%d)\n",
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g_nxcon_vars.wpos.x, g_nxcon_vars.wpos.y);
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ret = nxtk_setposition(g_nxcon_vars.hwnd, &g_nxcon_vars.wpos);
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if (ret < 0)
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{
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message("nxcon_main: nxtk_setposition failed: %d\n", errno);
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goto errout_with_hwnd;
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}
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/* Set the window size */
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message("nxcon_main: Set window size to (%d,%d)\n",
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g_nxcon_vars.wndo.wsize.w, g_nxcon_vars.wndo.wsize.h);
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ret = nxtk_setsize(g_nxcon_vars.hwnd, &g_nxcon_vars.wndo.wsize);
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if (ret < 0)
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{
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message("nxcon_main: nxtk_setsize failed: %d\n", errno);
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goto errout_with_hwnd;
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}
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/* Open the toolbar */
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message("nxcon_main: Add toolbar to window\n");
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ret = nxtk_opentoolbar(g_nxcon_vars.hwnd, CONFIG_EXAMPLES_NXCON_TOOLBAR_HEIGHT, &g_nxtoolcb, NULL);
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if (ret < 0)
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{
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message("nxcon_main: nxtk_opentoolbar failed: %d\n", errno);
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goto errout_with_hwnd;
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}
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/* Sleep a little bit to allow the server to catch up */
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sleep(2);
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/* NxConsole Configuration ************************************************/
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/* Use the window to create an NX console */
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g_nxcon_vars.wndo.wcolor[0] = CONFIG_EXAMPLES_NXCON_WCOLOR;
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g_nxcon_vars.wndo.fcolor[0] = CONFIG_EXAMPLES_NXCON_FONTCOLOR;
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g_nxcon_vars.wndo.fontid = CONFIG_EXAMPLES_NXCON_FONTID;
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g_nxcon_vars.hdrvr = nxtk_register(g_nxcon_vars.hwnd, &g_nxcon_vars.wndo, CONFIG_EXAMPLES_NXCON_MINOR);
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if (!g_nxcon_vars.hdrvr)
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{
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message("nxcon_main: nxtk_register failed: %d\n", errno);
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goto errout_with_hwnd;
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}
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/* Open the NxConsole driver */
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fd = open(CONFIG_EXAMPLES_NXCON_DEVNAME, O_WRONLY);
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if (fd < 0)
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{
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message("nxcon_main: open %s read-only failed: %d\n",
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CONFIG_EXAMPLES_NXCON_DEVNAME, errno);
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goto errout_with_driver;
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}
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/* Start Console Task *****************************************************/
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/* Now re-direct stdout and stderr so that they use the NX console driver.
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* Note that stdin is retained (file descriptor 0, probably the the serial console).
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*/
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message("nxcon_main: Starting the console task\n");
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msgflush();
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(void)fflush(stdout);
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(void)fflush(stderr);
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(void)fclose(stdout);
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(void)fclose(stderr);
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(void)dup2(fd, 1);
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(void)dup2(fd, 2);
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/* And we can close our original driver file descriptor */
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close(fd);
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/* And start the console task. It will inherit stdin, stdout, and stderr
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* from this task.
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*/
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g_nxcon_vars.pid = TASK_CREATE("NxConsole", CONFIG_EXAMPLES_NXCONSOLE_PRIO,
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CONFIG_EXAMPLES_NXCONSOLE_STACKSIZE,
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nxcon_task, NULL);
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ASSERT(g_nxcon_vars.pid > 0);
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return EXIT_SUCCESS;
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/* Error Exits ************************************************************/
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errout_with_driver:
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(void)nxcon_unregister(g_nxcon_vars.hdrvr);
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errout_with_hwnd:
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(void)nxtk_closewindow(g_nxcon_vars.hwnd);
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errout_with_nx:
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/* Disconnect from the server */
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nx_disconnect(g_nxcon_vars.hnx);
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errout:
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return EXIT_FAILURE;
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}
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