int MavlinkShell::shell_start_thread(int argc, char *argv[])
{
dup2(1, 2); //redirect stderror to stdout
#ifdef __PX4_NUTTX
nsh_consolemain(0, NULL);
#endif /* __PX4_NUTTX */
return 0;
}
static int nxterm_task(int argc, char **argv)
{
/* If the console front end is selected, then run it on this thread */
#ifdef CONFIG_NSH_CONSOLE
(void)nsh_consolemain(0, NULL);
#endif
printf("nxterm_task: Unregister the NX console device\n");
(void)nxterm_unregister(g_nxterm_vars.hdrvr);
printf("nxterm_task: Close the window\n");
(void)nxtk_closewindow(g_nxterm_vars.hwnd);
/* Disconnect from the server */
printf("nxterm_task: Disconnect from the server\n");
nx_disconnect(g_nxterm_vars.hnx);
return EXIT_SUCCESS;
}
int
nshterm_main(int argc, char *argv[])
{
if (argc < 2) {
printf("Usage: nshterm <device>\n");
exit(1);
}
unsigned retries = 0;
int fd = -1;
int armed_fd = orb_subscribe(ORB_ID(actuator_armed));
struct actuator_armed_s armed;
/* we assume the system does not provide arming status feedback */
bool armed_updated = false;
/* try the first 30 seconds or if arming system is ready */
while ((retries < 300) || armed_updated) {
/* abort if an arming topic is published and system is armed */
bool updated = false;
if (orb_check(armed_fd, &updated)) {
/* the system is now providing arming status feedback.
* instead of timing out, we resort to abort bringing
* up the terminal.
*/
armed_updated = true;
orb_copy(ORB_ID(actuator_armed), armed_fd, &armed);
if (armed.armed) {
/* this is not an error, but we are done */
exit(0);
}
}
/* the retries are to cope with the behaviour of /dev/ttyACM0 */
/* which may not be ready immediately. */
fd = open(argv[1], O_RDWR);
if (fd != -1) {
break;
}
usleep(100000);
retries++;
}
if (fd == -1) {
perror(argv[1]);
exit(1);
}
/* set up the serial port with output processing */
/* Try to set baud rate */
struct termios uart_config;
int termios_state;
/* Back up the original uart configuration to restore it after exit */
if ((termios_state = tcgetattr(fd, &uart_config)) < 0) {
warnx("ERR get config %s: %d\n", argv[1], termios_state);
close(fd);
return -1;
}
/* Set ONLCR flag (which appends a CR for every LF) */
uart_config.c_oflag |= (ONLCR | OPOST/* | OCRNL*/);
if ((termios_state = tcsetattr(fd, TCSANOW, &uart_config)) < 0) {
warnx("ERR set config %s\n", argv[1]);
close(fd);
return -1;
}
/* setup standard file descriptors */
close(0);
close(1);
close(2);
dup2(fd, 0);
dup2(fd, 1);
dup2(fd, 2);
nsh_consolemain(0, NULL);
close(fd);
return OK;
}
int nsh_main(int argc, char *argv[])
{
int exitval = 0;
int ret;
/* Call all C++ static constructors */
#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
up_cxxinitialize();
#endif
/* Make sure that we are using our symbol take */
#if defined(CONFIG_LIBC_EXECFUNCS) && defined(CONFIG_EXECFUNCS_SYMTAB)
exec_setsymtab(CONFIG_EXECFUNCS_SYMTAB, 0);
#endif
/* Register the BINFS file system */
#if defined(CONFIG_FS_BINFS) && (CONFIG_BUILTIN)
ret = builtin_initialize();
if (ret < 0)
{
fprintf(stderr, "ERROR: builtin_initialize failed: %d\n", ret);
exitval = 1;
}
#endif
/* Initialize the NSH library */
nsh_initialize();
/* If the Telnet console is selected as a front-end, then start the
* Telnet daemon.
*/
#ifdef CONFIG_NSH_TELNET
ret = nsh_telnetstart();
if (ret < 0)
{
/* The daemon is NOT running. Report the the error then fail...
* either with the serial console up or just exiting.
*/
fprintf(stderr, "ERROR: Failed to start TELNET daemon: %d\n", ret);
exitval = 1;
}
#endif
/* If the serial console front end is selected, then run it on this thread */
#ifdef CONFIG_NSH_CONSOLE
ret = nsh_consolemain(0, NULL);
/* nsh_consolemain() should not return. So if we get here, something
* is wrong.
*/
fprintf(stderr, "ERROR: nsh_consolemain() returned: %d\n", ret);
exitval = 1;
#endif
return exitval;
}
