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Initial Linux support including execution shell

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Uncomment the following line in setup.mk and comment out the line above
to enable the Linux build.

   export PX4_TARGET_OS	 = linux

The build uses the clang compiler by default. The final bundled executable
is mainapp located in:

   Build/linux_default.build/mainapp

When you run mainapp it will provide a list of the built-in apps. You can
type in the commands to run such as:

   hello_main start

Because the Linux build is threaded and does not support tasks or processes,
it cannot call errx, exit() _exit(), etc. It also requires unique scoped
variables to test if a thread is running or if an application should exit.
The px4::AppMgr class was added in px4_app.h for this purpose. The
hello sample app demonstrates how this is used.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2015-03-10 17:36:20 -07:00
parent 838e9fc769
commit 520459062d
22 changed files with 1229 additions and 24 deletions
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84
Tools/linux_apps.py Executable file
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#!/usr/bin/env python
############################################################################
#
# Copyright (C) 2015 Mark Charlebois. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
import glob
#builtins = glob.glob("../Build/linux_default.build/builtin_commands/COMMAND*")
builtins = glob.glob("builtin_commands/COMMAND*")
apps = []
for f in builtins:
apps.append(f.split(".")[-1])
print
print """
#include <string>
#include <map>
using namespace std;
extern "C" {
"""
for app in apps:
print "extern int "+app+"(int argc, char *argv[]);"
print """
static int list_builtins(int argc, char *argv[]);
}
static map<string,px4_main_t> app_map(void);
static map<string,px4_main_t> app_map(void)
{
map<string,px4_main_t> apps;
"""
for app in apps:
print '\tapps["'+app+'"] = '+app+';'
print '\tapps["list_builtins"] = list_builtins;'
print """
return apps;
}
map<string,px4_main_t> apps = app_map();
static int list_builtins(int argc, char *argv[])
{
cout << "Builtin Commands:" << endl;
for (map<string,px4_main_t>::iterator it=apps.begin(); it!=apps.end(); ++it)
cout << '\t' << it->first << endl;
return 0;
}
"""