muorb_test_start_posix.cpp

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/****************************************************************************
 *
 *   Copyright (C) 2015 Mark Charlebois. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
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/**
 * @file hello_start_linux.cpp
 *
 * @author Thomas Gubler <thomasgubler@gmail.com>
 * @author Mark Charlebois <mcharleb@gmail.com>
 */
#include "muorb_test_example.h"
#include <px4_platform_common/log.h>
#include <px4_platform_common/app.h>
#include <px4_platform_common/tasks.h>
#include <stdio.h>
#include <string.h>
#include <sched.h>

static int daemon_task;             /* Handle of deamon task / thread */

//using namespace px4;

extern "C" __EXPORT int muorb_test_main(int argc, char *argv[]);

static void usage()
{
    PX4_DEBUG("usage: muorb_test {start|stop|status}");
}
int muorb_test_main(int argc, char *argv[])
{
    if (argc < 2) {
        usage();
        return 1;
    }

    if (!strcmp(argv[1], "start")) {

        if (MuorbTestExample::appState.isRunning()) {
            PX4_DEBUG("already running");
            /* this is not an error */
            return 0;
        }

        daemon_task = px4_task_spawn_cmd("muorb_test",
                         SCHED_DEFAULT,
                         SCHED_PRIORITY_MAX - 5,
                         16000,
                         PX4_MAIN,
                         (char *const *)argv);

        return 0;
    }

    if (!strcmp(argv[1], "stop")) {
        MuorbTestExample::appState.requestExit();
        return 0;
    }

    if (!strcmp(argv[1], "status")) {
        if (MuorbTestExample::appState.isRunning()) {
            PX4_DEBUG("is running");

        } else {
            PX4_DEBUG("not started");
        }

        return 0;
    }

    usage();
    return 1;
}