void
sig_handler(
int signal)
{
switch(signal)
{
case SIGINT:
{
AXIS2_LOG_INFO(system_env->log, "Received signal SIGINT. Server "
"shutting down");
axis2_tcp_server_stop(server, system_env);
AXIS2_LOG_INFO(system_env->log, "Shutdown complete ...");
system_exit(system_env, 0);
}
case SIGPIPE:
{
AXIS2_LOG_INFO(system_env->log, "Received signal SIGPIPE. Client "
"request serve aborted");
return;
}
case SIGSEGV:
{
fprintf(stderr, "Received deadly signal SIGSEGV. Terminating\n");
_exit(-1);
}
}
}
int main(void) {
extern int kernel_main(bool system_main_init_stat); // 只能在main() 内使用
system_init();
kernel_main(true);
system_exit();
}
void
reset_handler(void)
{
volatile uint32_t *src, *dst;
/* Workaround for PM debug issue */
HWREG(SYS_CTRL_EMUOVR) = 0xFF;
/* Workaround for J-Link debug issue */
HWREG(NVIC_VTABLE) = (uint32_t)interrupt_vector;
/* Copy the data segment initializers from flash to SRAM */
for (src = &_text_end, dst = &_data_start; dst < &_data_end; )
{
*dst++ = *src++;
}
/* Initialize the BSS section to zero */
for (dst = &_bss_start; dst < &_bss_end; *dst++)
{
*dst = 0;
}
/* Initialize the system */
system_init();
/* Initialize standard C library */
__libc_init_array();
/* Call the application's entry point */
main();
/* End here if return from main() */
system_exit();
}
void
Client::_sig_handler(int sig_num)
{
client_send_packet_s packet;
packet.header.msg_id = client_send_packet_s::message_header_s::e_msg_id::KILL;
packet.header.client_uuid = _uuid;
packet.payload.kill_msg.cmd_id = sig_num;
packet.header.payload_length = sizeof(packet.payload.kill_msg.cmd_id);
if (_client_send_pipe_fd < 0) {
PX4_ERR("pipe open fail");
system_exit(-1);
}
int bytes_to_send = get_client_send_packet_length(&packet);
int bytes_sent = write(_client_send_pipe_fd, &packet, bytes_to_send);
if (bytes_sent != bytes_to_send) {
PX4_ERR("write fail");
system_exit(-1);
}
}
//------------------------------------------------------------------------------
int main(int argc, char** argv)
{
tOplkError ret = kErrorOk;
tOptions opts;
getOptions(argc, argv, &opts);
#if defined(__COBALT__)
mlockall(MCL_CURRENT | MCL_FUTURE);
#endif
if (system_init() != 0)
{
fprintf(stderr, "Error initializing system!");
return 0;
}
initEvents(&fGsOff_l);
printf("----------------------------------------------------\n");
printf("openPOWERLINK console MN DEMO application\n");
printf("using openPOWERLINK Stack: %s\n", PLK_DEFINED_STRING_VERSION);
printf("----------------------------------------------------\n");
if ((ret = initPowerlink(CYCLE_LEN, opts.cdcFile, aMacAddr_g)) != kErrorOk)
goto Exit;
if ((ret = initApp()) != kErrorOk)
goto Exit;
loopMain();
Exit:
shutdownPowerlink();
shutdownApp();
system_exit();
return 0;
}
//------------------------------------------------------------------------------
int main (int argc, char** argv)
{
tOplkError ret = kErrorOk;
tOptions opts;
getOptions(argc, argv, &opts);
if (system_init() != 0)
{
fprintf(stderr, "Error initializing system!");
return 0;
}
initEvents(&fGsOff_l);
printf("----------------------------------------------------\n");
printf("openPOWERLINK console CN DEMO application\n");
printf("using openPOWERLINK Stack: %s\n", PLK_DEFINED_STRING_VERSION);
printf("----------------------------------------------------\n");
if ((ret = initPowerlink(CYCLE_LEN, aMacAddr_l, opts.nodeId))
!= kErrorOk)
goto Exit;
if ((ret = initApp()) != kErrorOk)
goto Exit;
loopMain();
Exit:
shutdownPowerlink();
shutdownApp();
system_exit();
return 0;
}
int
main(
int argc,
char *argv[])
{
axutil_allocator_t *allocator = NULL;
axutil_env_t *env = NULL;
extern char *optarg;
extern int optopt;
int c;
int log_file_size = AXUTIL_LOG_FILE_SIZE;
axutil_log_levels_t log_level = AXIS2_LOG_LEVEL_DEBUG;
const axis2_char_t *log_file = AXIS2_TCP_SERVER_LOG_FILE_NAME;
int port = AXIS2_TCP_SERVER_PORT;
const axis2_char_t *repo_path = AXIS2_TCP_SERVER_REPO_PATH;
while((c = AXIS2_GETOPT(argc, argv, ":p:r:ht:l:s:f:")) != -1)
{
switch(c)
{
case 'p':
port = AXIS2_ATOI(optarg);
break;
case 'r':
repo_path = optarg;
break;
case 't':
axis2_tcp_socket_read_timeout = AXIS2_ATOI(optarg) * 1000;
break;
case 'l':
log_level = AXIS2_ATOI(optarg);
if(log_level < AXIS2_LOG_LEVEL_CRITICAL)
log_level = AXIS2_LOG_LEVEL_CRITICAL;
if(log_level > AXIS2_LOG_LEVEL_TRACE)
log_level = AXIS2_LOG_LEVEL_TRACE;
break;
case 's':
log_file_size = 1024 * 1024 * AXIS2_ATOI(optarg);
break;
case 'f':
log_file = optarg;
break;
case 'h':
usage(argv[0]);
return 0;
case ':':
fprintf(stderr, "\nOption -%c requires an operand\n", optopt);
usage(argv[0]);
return -1;
case '?':
if(isprint(optopt))
fprintf(stderr, "\nUnknown option `-%c'.\n", optopt);
usage(argv[0]);
return -1;
}
}
allocator = axutil_allocator_init(NULL);
if(!allocator)
{
system_exit(NULL, -1);
}
env = init_syetem_env(allocator, log_file);
env->log->level = log_level;
env->log->size = log_file_size;
axutil_error_init();
system_env = env;
#ifndef WIN32
signal(SIGINT, sig_handler);
signal(SIGPIPE, sig_handler);
#endif
AXIS2_LOG_INFO(env->log, "Starting Axis2 TCP server....");
AXIS2_LOG_INFO(env->log, "Server port : %d", port);
AXIS2_LOG_INFO(env->log, "Repo location : %s", repo_path);
AXIS2_LOG_INFO(env->log, "Read Timeout : %d ms", axis2_tcp_socket_read_timeout);
server = axis2_tcp_server_create(env, repo_path, port);
if(!server)
{
AXIS2_LOG_ERROR(env->log, AXIS2_LOG_SI, "Server creation failed: Error code:" " %d :: %s",
env->error->error_number, AXIS2_ERROR_GET_MESSAGE(env->error));
system_exit(env, -1);
}
printf("Started Simple Axis2 TCP Server ...\n");
if(axis2_transport_receiver_start(server, env) == AXIS2_FAILURE)
{
AXIS2_LOG_ERROR(env->log, AXIS2_LOG_SI, "Server start failed: Error code:" " %d :: %s",
env->error->error_number, AXIS2_ERROR_GET_MESSAGE(env->error));
system_exit(env, -1);
}
return 0;
}
void
px4_systemreset(bool to_bootloader)
{
PX4_WARN("Called px4_system_reset");
system_exit(0);
}
