cdevtest_start.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
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 *
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/**
 * @file cdevtest_start.cpp
 *
 * @author Thomas Gubler <thomasgubler@gmail.com>
 * @author Mark Charlebois <mcharleb@gmail.com>
 */
#include "cdevtest_example.h"

#include <px4_platform_common/app.h>
#include <px4_platform_common/tasks.h>
#include <stdio.h>
#include <string.h>

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

//using namespace px4;

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

    if (argc < 2) {
        printf("usage: cdevtest {start|stop|status}\n");
        return 1;
    }

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

        if (CDevExample::appState.isRunning()) {
            printf("already running\n");
            /* this is not an error */
            return 0;
        }

        daemon_task = px4_task_spawn_cmd("cdevtest",
                         SCHED_DEFAULT,
                         SCHED_PRIORITY_MAX - 5,
                         2000,
                         PX4_MAIN,
                         (argv) ? (char *const *)&argv[2] : (char *const *)nullptr);

        return 0;
    }

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

    if (!strcmp(argv[1], "status")) {
        if (CDevExample::appState.isRunning()) {
            printf("is running\n");

        } else {
            printf("not started\n");
        }

        return 0;
    }

    printf("usage: cdevtest_main {start|stop|status}\n");
    return 1;
}