/*
start an instance of nsh
*/
bool PX4Util::run_debug_shell(AP_HAL::BetterStream *stream)
{
PX4UARTDriver *uart = (PX4UARTDriver *)stream;
int fd;
// trigger exit in the other threads. This stops use of the
// various driver handles, and especially the px4io handle,
// which otherwise would cause a crash if px4io is stopped in
// the shell
_px4_thread_should_exit = true;
// take control of stream fd
fd = uart->_get_fd();
// mark it blocking (nsh expects a blocking fd)
unsigned v;
v = fcntl(fd, F_GETFL, 0);
fcntl(fd, F_SETFL, v & ~O_NONBLOCK);
// setup the UART on stdin/stdout/stderr
close(0);
close(1);
close(2);
dup2(fd, 0);
dup2(fd, 1);
dup2(fd, 2);
nsh_consolemain(0, NULL, false);
// this shouldn't happen
hal.console->printf("shell exited\n");
return true;
}
void HAL_PX4::run(int argc, char * const argv[], Callbacks* callbacks) const
{
int i;
const char *deviceA = UARTA_DEFAULT_DEVICE;
const char *deviceC = UARTC_DEFAULT_DEVICE;
const char *deviceD = UARTD_DEFAULT_DEVICE;
const char *deviceE = UARTE_DEFAULT_DEVICE;
if (argc < 1) {
printf("%s: missing command (try '%s start')",
SKETCHNAME, SKETCHNAME);
usage();
exit(1);
}
assert(callbacks);
g_callbacks = callbacks;
for (i=0; i<argc; i++) {
if (strcmp(argv[i], "start") == 0) {
if (thread_running) {
printf("%s already running\n", SKETCHNAME);
/* this is not an error */
exit(0);
}
uartADriver.set_device_path(deviceA);
uartCDriver.set_device_path(deviceC);
uartDDriver.set_device_path(deviceD);
uartEDriver.set_device_path(deviceE);
printf("Starting %s uartA=%s uartC=%s uartD=%s uartE=%s\n",
SKETCHNAME, deviceA, deviceC, deviceD, deviceE);
_px4_thread_should_exit = false;
daemon_task = px4_task_spawn_cmd(SKETCHNAME,
SCHED_FIFO,
APM_MAIN_PRIORITY,
APM_MAIN_THREAD_STACK_SIZE,
main_loop,
NULL);
exit(0);
}
if (strcmp(argv[i], "stop") == 0) {
_px4_thread_should_exit = true;
exit(0);
}
if (strcmp(argv[i], "status") == 0) {
if (_px4_thread_should_exit && thread_running) {
printf("\t%s is exiting\n", SKETCHNAME);
} else if (thread_running) {
printf("\t%s is running\n", SKETCHNAME);
} else {
printf("\t%s is not started\n", SKETCHNAME);
}
exit(0);
}
if (strcmp(argv[i], "-d") == 0) {
// set terminal device
if (argc > i + 1) {
deviceA = strdup(argv[i+1]);
} else {
printf("missing parameter to -d DEVICE\n");
usage();
exit(1);
}
}
if (strcmp(argv[i], "-d2") == 0) {
// set uartC terminal device
if (argc > i + 1) {
deviceC = strdup(argv[i+1]);
} else {
printf("missing parameter to -d2 DEVICE\n");
usage();
exit(1);
}
}
if (strcmp(argv[i], "-d3") == 0) {
// set uartD terminal device
if (argc > i + 1) {
deviceD = strdup(argv[i+1]);
} else {
printf("missing parameter to -d3 DEVICE\n");
usage();
exit(1);
}
}
if (strcmp(argv[i], "-d4") == 0) {
// set uartE 2nd GPS device
if (argc > i + 1) {
deviceE = strdup(argv[i+1]);
} else {
printf("missing parameter to -d4 DEVICE\n");
usage();
exit(1);
}
}
}
usage();
exit(1);
}
void HAL_PX4::init(int argc, char * const argv[]) const
{
int i;
const char *deviceA = UARTA_DEFAULT_DEVICE;
const char *deviceC = UARTC_DEFAULT_DEVICE;
if (argc < 1) {
printf("%s: missing command (try '%s start')",
SKETCHNAME, SKETCHNAME);
usage();
exit(1);
}
for (i=0; i<argc; i++) {
if (strcmp(argv[i], "start") == 0) {
if (thread_running) {
printf("%s already running\n", SKETCHNAME);
/* this is not an error */
exit(0);
}
uartADriver.set_device_path(deviceA);
uartCDriver.set_device_path(deviceC);
printf("Starting %s on %s and %s\n",
SKETCHNAME, deviceA, deviceC);
_px4_thread_should_exit = false;
daemon_task = task_spawn_cmd(SKETCHNAME,
SCHED_FIFO,
APM_MAIN_PRIORITY,
8192,
main_loop,
NULL);
exit(0);
}
if (strcmp(argv[i], "stop") == 0) {
_px4_thread_should_exit = true;
exit(0);
}
if (strcmp(argv[i], "status") == 0) {
if (_px4_thread_should_exit && thread_running) {
printf("\t%s is exiting\n", SKETCHNAME);
} else if (thread_running) {
printf("\t%s is running\n", SKETCHNAME);
} else {
printf("\t%s is not started\n", SKETCHNAME);
}
exit(0);
}
if (strcmp(argv[i], "-d") == 0) {
// set terminal device
if (argc > i + 1) {
deviceA = strdup(argv[i+1]);
} else {
printf("missing parameter to -d DEVICE\n");
usage();
exit(1);
}
}
if (strcmp(argv[i], "-d2") == 0) {
// set uartC terminal device
if (argc > i + 1) {
deviceC = strdup(argv[i+1]);
} else {
printf("missing parameter to -d2 DEVICE\n");
usage();
exit(1);
}
}
}
usage();
exit(1);
}
