/*
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;
}
