forked from Archive/PX4-Autopilot
138 lines
3.8 KiB
C
138 lines
3.8 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* Author: @author Example User <mail@example.com>
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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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/**
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* @file px4_deamon_app.c
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* Deamon application example for PX4 autopilot
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*/
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#include <nuttx/config.h>
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#include <unistd.h>
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#include <stdio.h>
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static bool thread_should_exit = false; /**< Deamon exit flag */
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static bool thread_running = false; /**< Deamon status flag */
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static int deamon_task; /**< Handle of deamon task / thread */
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/**
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* Deamon management function.
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*/
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__EXPORT int px4_deamon_app_main(int argc, char *argv[]);
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/**
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* Mainloop of deamon.
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*/
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int px4_deamon_thread_main(int argc, char *argv[]);
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/**
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* Print the correct usage.
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*/
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static void usage(const char *reason);
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static void
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usage(const char *reason)
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{
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if (reason)
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fprintf(stderr, "%s\n", reason);
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fprintf(stderr, "usage: deamon {start|stop|status} [-p <additional params>]\n\n");
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exit(1);
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}
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/**
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* The deamon app only briefly exists to start
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* the background job. The stack size assigned in the
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* Makefile does only apply to this management task.
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*
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* The actual stack size should be set in the call
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* to task_create().
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*/
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int px4_deamon_app_main(int argc, char *argv[])
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{
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if (argc < 1)
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usage("missing command");
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if (!strcmp(argv[1], "start")) {
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if (thread_running) {
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printf("deamon already running\n");
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/* this is not an error */
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exit(0);
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}
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thread_should_exit = false;
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deamon_task = task_spawn("deamon",
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SCHED_DEFAULT,
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SCHED_PRIORITY_DEFAULT,
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4096,
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px4_deamon_thread_main,
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(argv) ? (const char **)&argv[2] : (const char **)NULL);
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exit(0);
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}
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if (!strcmp(argv[1], "stop")) {
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thread_should_exit = true;
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exit(0);
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}
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if (!strcmp(argv[1], "status")) {
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if (thread_running) {
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printf("\tdeamon app is running\n");
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} else {
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printf("\tdeamon app not started\n");
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}
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exit(0);
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}
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usage("unrecognized command");
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exit(1);
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}
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int px4_deamon_thread_main(int argc, char *argv[]) {
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printf("[deamon] starting\n");
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thread_running = true;
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while (!thread_should_exit) {
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printf("Hello Deamon!\n");
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sleep(10);
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}
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printf("[deamon] exiting.\n");
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thread_running = false;
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return 0;
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}
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