hrt_test_start.cpp

Go to the documentation of this file.

/****************************************************************************
 *
 * 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.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/

/**
 * @file hrt_test_start_posix.cpp
 *
 * @author Mark Charlebois <mcharleb@gmail.com>
 */
#include "hrt_test.h"

#include <stdio.h>
#include <string.h>
#include <sched.h>

#include <px4_platform_common/log.h>
#include <px4_platform_common/app.h>
#include <px4_platform_common/tasks.h>

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

extern "C" __EXPORT int hrt_test_main(int argc, char *argv[]);
int hrt_test_main(int argc, char *argv[])
{
    if (argc < 2) {
        PX4_WARN("usage: hrt_test_main {start|stop|status}\n");
        return 1;
    }

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

        if (HRTTest::appState.isRunning()) {
            PX4_INFO("already running\n");
            /* this is not an error */
            return 0;
        }

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

        return 0;
    }

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

    if (!strcmp(argv[1], "status")) {
        if (HRTTest::appState.isRunning()) {
            PX4_INFO("is running\n");

        } else {
            PX4_INFO("not started\n");
        }

        return 0;
    }

    PX4_WARN("usage: hrttest_main {start|stop|status}\n");
    return 1;
}