muorb_main.cpp

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#include <string.h>
#include "modules/uORB/uORBManager.hpp"
#include "uORBKraitFastRpcChannel.hpp"

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

static void usage()
{
    warnx("Usage: muorb 'start', 'stop', 'status'");
}


int
muorb_main(int argc, char *argv[])
{
    if (argc < 2) {
        usage();
        return -EINVAL;
    }

    /*
     * Start/load the driver.
     *
     * XXX it would be nice to have a wrapper for this...
     */
    if (!strcmp(argv[1], "start")) {
        if (uORB::KraitFastRpcChannel::isInstance()) {
            PX4_WARN("muorb already running");

        } else {
            // register the fast rpc channel with UORB.
            uORB::Manager::get_instance()->set_uorb_communicator(uORB::KraitFastRpcChannel::GetInstance());

            // start the KaitFastRPC channel thread.
            uORB::KraitFastRpcChannel::GetInstance()->Start();
        }

        return OK;

    }

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

        if (uORB::KraitFastRpcChannel::isInstance()) {
            uORB::KraitFastRpcChannel::GetInstance()->Stop();

        } else {
            PX4_WARN("muorb not running");
        }

        return OK;
    }

    /*
     * Print driver information.
     */
    if (!strcmp(argv[1], "status")) {
        if (uORB::KraitFastRpcChannel::isInstance()) {
            PX4_WARN("muorb running");

        } else {
            PX4_WARN("muorb not running");
        }

        return OK;
    }

    usage();
    return -EINVAL;
}