qshell_start_qurt.cpp

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/**
 * @file qshell_start_qurt.cpp
 * Listener for shell commands from posix
 *
 * @author Nicolas de Palezieux <ndepal@gmail.com>
 */

#include "qshell.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 qshell_main(int argc, char *argv[]);

int qshell_entry(int argc, char **argv)
{
    //px4::init(argc, argv, "qshell");

    PX4_DEBUG("qshell entry.....");
    QShell qshell;
    qshell.main();

    PX4_DEBUG("goodbye");
    return 0;
}

static void usage()
{
    PX4_INFO("usage: qshell {start|stop|status}");
}
int qshell_main(int argc, char *argv[])
{
    if (argc < 2) {
        usage();
        return 1;
    }

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

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

        PX4_DEBUG("before starting the qshell_entry task");

        daemon_task = px4_task_spawn_cmd("qshell",
                         SCHED_DEFAULT,
                         SCHED_PRIORITY_MAX - 5,
                         8192,
                         qshell_entry,
                         (char *const *)argv);

        return 0;
    }

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

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

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

        return 0;
    }

    usage();
    return 1;
}