int main(int argc, char **argv)
{
struct sigaction sig_stop;
struct sigaction sig_time;
_main = main_init(argc, argv);
_log = log_init();
_main->conf = conf_init(argc, argv);
_main->work = work_init();
_main->tcp = tcp_init();
_main->node = node_init();
_main->mime = mime_init();
/* Check configuration */
conf_print();
/* Catch SIG INT */
unix_signal(&sig_stop, &sig_time);
/* Fork daemon */
unix_fork(log_console(_log));
/* Increase limits */
unix_limits(_main->conf->cores, CONF_EPOLL_MAX_EVENTS);
/* Load mime types */
mime_load();
mime_hash();
/* Prepare TCP daemon */
tcp_start();
/* Drop privileges */
unix_dropuid0();
/* Start worker threads */
work_start();
/* Stop worker threads */
work_stop();
/* Stop TCP daemon */
tcp_stop();
mime_free();
node_free();
tcp_free();
work_free();
conf_free();
log_free(_log);
main_free();
return 0;
}
TAP_ESC::~TAP_ESC()
{
if (_initialized) {
/* tell the task we want it to go away */
work_stop();
int i = 10;
do {
/* wait 50ms - it should wake every 100ms or so worst-case */
usleep(50000);
i--;
} while (_initialized && i > 0);
}
// clean up the alternate device node
//unregister_class_devname(PWM_OUTPUT_BASE_DEVICE_PATH, _class_instance);
tap_esc = nullptr;
}
PX4FMU::~PX4FMU()
{
if (_initialized) {
/* tell the task we want it to go away */
work_stop();
int i = 10;
do {
/* wait 50ms - it should wake every 100ms or so worst-case */
usleep(50000);
i--;
} while (_initialized && i > 0);
}
/* clean up the alternate device node */
unregister_class_devname(PWM_OUTPUT_BASE_DEVICE_PATH, _class_instance);
g_fmu = NULL;
}
