mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-31 02:16:53 +08:00
add posix shell
squashed & rebased version, not including: - listener changes - src/firmware renaming Commits: tag_to_version.py: fix Python3 error subprocess.communicate returns bytes instead of a str which is not the same for Python3. Therefore, we need to decode the bytes. cmake: remove folder src/firmware The folder src/firmware was not intuitive. Why would the binaries for SITL be inside a src and why even inside a src/firmware folder. Also, the rootfs was put there which made it even more confusing. The CMakeLists.txt files are moved into cmake/ and get now called from the main CMakeLists.txt. qshell: support for return value Instead of just sending commands, qshell will now also wait until the command has finished on QURT and sent back a return value. This will allow all modules on the DSP side to be spawned from the Linux side meaning that we only need one config/startup file instead of two. adb_upload: create folders before pushing Previously the script failed if the folder on the destination was not already existing. This therefore makes pushing easier. posix: spawn PX4 modules in bash This adds the possibility to spawn PX4 modules out of bash. Basically, the main executable can now be started as a server/daemon or as a client. The server replaces the existing functionality of the main exe with the pxh shell, however, it also opens a pipe that clients can talk to. Clients can run or spawn PX4 modules or commands by connecting to the server over the pipe. They clients will get the stdout and return value of their commands via a client specific pipe back. This work will allow to start all modules using a bash script similar to the way it is done in NuttX where the NuttShell scripts the startup scripts and starts the modules. SITL: use new client shell in SITL This is a first step to use the new shell capabilities for SITL. The new startup bash script rcS merges (and therefore replaces) the two existing scripts rcS_gazebo_iris and rcS_jmavsim_iris. More cleanup will be necessary for the rest of the SITL startup scripts. Snapdragon: use new shell to start all modules Instead of different mainapp.config and px4.config files, we can now use a unified rcS bash script which starts all the modules based on parameters, mainly the SYS_AUTOSTART param. Snapdragon: fix the airframe description pxh: argv needs to end with a nullptr The comment was wrong that argv needs an additional 0 termination. Instead it needs a nullptr at the end. px4_posix_tasks: variable cleanup The px4_task_spawn_cmd function got a cleanup while debugging, however, no functional changes. Snapdragon: move some drivers to 4100 config These drivers are supported by the community, so they go into the 4100 config. Snapdragon: update 210qc platform px4_daemon: use doxygen comments apps.h_in: fix string printf: use .c_str() px4_daemon: \b -> \n in printf px4_daemon: handle error in generate_uuid (close the file on error) posix main: some clarifications in comment (it's the symlinks not the script aliases) cmake: remove new install command again This one was probably wrong and untested. Installing needs revisiting. POSIX: remove argument USES_TERMINAL POSIX: copy init and mixer files for SITL Instead of using non-working install commands, the mixer and startup files are now copied as part of the build in cmake. adb_upload.sh: remove leftover commented printf POSIX main: just the pointer instead of memmove POSIX main: remove chroot chroot is removed because it hasn't been used anywhere and seems untested. px4_daemon: remove client pipe when cleaning up px4_daemon: fail if the client pipe already exists The client pipe is supposed to be specific (by UUID), so the path shouldn't exist already. history: limit the number of history entries This is a protection to avoid filling the memory if we are entering a lot of commands (e.g. auto-generated). px4_daemon: add a threadsafe map and use it px4_daemon: whitespace px4_daemon: fix client parsing Sometimes the client ends up reading more than one packet in one read. The parsing is not made for this and would require a (ring)buffer for it. The solution of this commit just reads as much as needed from the pipe which avoids having to do buffering and parsing. posix: changes sitl_run.sh and main.cpp cleanup This changes the paths in sitl_run.sh quite a bit to allow the px4 binary to run in the rootfs directory which should make it convenient and very close to the NuttX variant. Also main.cpp got a big cleanup after the big rebase with some conflicts. Quite some functionality was removed but it has yet to be seen if it needs to be re-added. px4_log: cleanup log levels, now they make sense Before DEBUG and INFO log levels where inverted which didn't make much sense in my eyes. dataman: fix path for bash shell logger: fix paths for bash shell mavlink: fix paths for bash shell param: fix path for bash shell inav: fix paths for bash shell sdlog2: fix paths for bash shell ROMFS: add forgotten mixer to list SITL init: more models, more options - Support for different models using the unified startup script rcS. - Support to choose the estimator by setting the environment variable PX4_ESTIMATOR. - Support to choose the logger by setting the environment variable PX4_LOGGER. rcS: fix string comparison listener: use template file Instead of having all of the C++ code inside the Python file it is nicer to have a separate template file with the C++ headers, etc. px4_log: add PX4_INFO_RAW for raw printfs This allows to do custom formatting but is still transported over sockets to clients. topic_listener: use PX4_INFO_RAW instead of printf commander: use PX4_INFO_RAW for status listener: rewrite to classes and factory posix: fix some argument warnings generate_listener.py: by accident changed shebang listener: big refactor of the generator Hopefully this makes it easier to read and change in the future. rcS: manually take over rebase changes listener: remove leftover try listener: properly clean up topic instance rcS: take over some vehicle specific changes posix-configs: vehicle specifics to separate files posix-configs: remove leftover lines uORBDevices: new PX4_INFO_RAW instead of printf px4_log: just use printf on NuttX listener: use less binary space, strip on NuttX generate_listener.py: remove commented code cmake: fix syntax error from merge px4_daemon: fixes after rebase of apps.h/cpp fix px4_daemon: namespace missing posix: only create stub for fsync on QURT unitests: reduce dependencies of param test This makes the unit test compile and link again after the bash changes. QURT: some compile fixes after a rebase SITL: arg change for sitl_run.sh to use rcS_test This allows to use a custom startup file for testing. SITL: add the folder test_data SITL: implement shutdown command as systemcmd The shutdown command needs to be a proper systemcmd, otherwise the alias and symlink generation doesn't work and we end up calling shutdown of the host computer which is to be avoided. px4fmu_test: same IO_pass mixer as px4fmu_default px4fmu_test: use normal quad x mixer There is no good reason to use a specific test mixer, except more cmake code around it. Therefore just use the same mixer as default, and at some point px4fmu_test and px4fmu_default can get merged POSIX: cleanup, dir and symlink fixes This cleans up the logic behind the symlinking and creating directories. POSIX: correct arg order in usage info tests: fix paths for SITL tests POSIX: printf fix sitl_run.sh: try to make this run on Mac as well cmake: try to make jenkins happier Path cleanup, the bin is no longer in src/firmware POSIX: fix symlink logic SITL: prefix all exported env variables cmake: fix path for ROS tests integrationtests: fix log path launch: try to make tets with ROS working again px4_defines: fix after wrong merge deconflicting px4_defines: get paths for POSIX correct cmake: fix cmake arguments This was fine with cmake 3.6 but did not work with cmake 3.2.2 cmake: use cp instead of cmake -E copy cmake -E copy does not support copying multiple files with versions < 3.5. Therefore, just use cp for now. ROMFS: fix build error after rebase cmake: fix paths in configs launch: use `spawn_model` again cmake: various fixes after big rebase param: path fixes after rebase posix platform: fixes after rebase test_mixer: fix screwed up rebase
This commit is contained in:
Julian Oes
Lorenz Meier
@@ -5,10 +5,22 @@ include_directories(${CMAKE_CURRENT_BINARY_DIR})
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get_property(module_libraries GLOBAL PROPERTY PX4_MODULE_LIBRARIES)
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set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
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set(PX4_BASH_PREFIX "px4-")
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add_definitions("-DPX4_BASH_PREFIX=\"${PX4_BASH_PREFIX}\"")
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px4_posix_generate_builtin_commands(
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OUT apps
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MODULE_LIST ${module_libraries})
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px4_posix_generate_alias(
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OUT ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/px4-alias.sh
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MODULE_LIST ${module_libraries}
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PREFIX ${PX4_BASH_PREFIX}
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)
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if (("${BOARD}" STREQUAL "eagle") OR ("${BOARD}" STREQUAL "excelsior"))
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include(fastrpc)
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include(linux_app)
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@@ -185,4 +197,37 @@ install(
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${PROJECT_SOURCE_DIR}/Tools/sitl_gazebo/package.xml
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DESTINATION
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${PROJECT_NAME}/Tools/sitl_gazebo
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)
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)
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# symlinks
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px4_posix_generate_symlinks(
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MODULE_LIST ${module_libraries}
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PREFIX ${PX4_BASH_PREFIX}
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TARGET px4
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)
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add_custom_command(TARGET px4
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POST_BUILD
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COMMAND mkdir -p ${CMAKE_BINARY_DIR}/rootfs/etc/
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)
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add_custom_command(TARGET px4
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POST_BUILD
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COMMAND mkdir -p ${CMAKE_BINARY_DIR}/rootfs/etc/
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)
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add_custom_command(TARGET px4
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POST_BUILD
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COMMAND cp -R ${PROJECT_SOURCE_DIR}/posix-configs/SITL/init ${CMAKE_BINARY_DIR}/rootfs/etc/
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)
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add_custom_command(TARGET px4
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POST_BUILD
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COMMAND cp -R ${PROJECT_SOURCE_DIR}/ROMFS/sitl/mixers ${CMAKE_BINARY_DIR}/rootfs/etc/
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)
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add_custom_command(TARGET px4
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POST_BUILD
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COMMAND cp -R ${PROJECT_SOURCE_DIR}/ROMFS/px4fmu_common/mixers ${CMAKE_BINARY_DIR}/rootfs/etc/
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)
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@@ -103,6 +103,65 @@ function(px4_posix_generate_builtin_commands)
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configure_file(${PX4_SOURCE_DIR}/src/platforms/apps.h.in ${OUT}.h)
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endfunction()
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# TODO: document API
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function(px4_posix_generate_alias)
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px4_parse_function_args(
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NAME px4_posix_generate_alias
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ONE_VALUE OUT PREFIX
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MULTI_VALUE MODULE_LIST
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REQUIRED OUT PREFIX MODULE_LIST
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ARGN ${ARGN})
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set(alias_string)
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foreach(module ${MODULE_LIST})
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foreach(property MAIN STACK PRIORITY)
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get_target_property(${property} ${module} ${property})
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if(NOT ${property})
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set(${property} ${${property}_DEFAULT})
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endif()
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endforeach()
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if (MAIN)
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set(alias_string
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"${alias_string}alias ${MAIN}='${PREFIX}${MAIN}'\n"
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)
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endif()
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endforeach()
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configure_file(${PX4_SOURCE_DIR}/cmake/posix/px4-alias.sh_in
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${OUT}
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)
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endfunction()
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# TODO: document API
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function(px4_posix_generate_symlinks)
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px4_parse_function_args(
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NAME px4_posix_generate_symlinks
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ONE_VALUE TARGET PREFIX
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MULTI_VALUE MODULE_LIST
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REQUIRED TARGET PREFIX MODULE_LIST
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ARGN ${ARGN})
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foreach(module ${MODULE_LIST})
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foreach(property MAIN STACK PRIORITY)
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get_target_property(${property} ${module} ${property})
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if(NOT ${property})
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set(${property} ${${property}_DEFAULT})
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endif()
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endforeach()
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if (MAIN)
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set(ln_name "${PREFIX}${MAIN}")
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add_custom_command(TARGET ${TARGET}
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POST_BUILD
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COMMAND ${CMAKE_COMMAND} -E create_symlink ${TARGET} ${ln_name}
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WORKING_DIRECTORY "${CMAKE_RUNTIME_OUTPUT_DIRECTORY}"
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)
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endif()
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endforeach()
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endfunction()
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#=============================================================================
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#
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# px4_os_add_flags
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@@ -0,0 +1,65 @@
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/****************************************************************************
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*
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* Copyright (C) 2016 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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||||
* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file server_io.h
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*
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* These are helper functions to send the stdout over a pipe
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* back to the client.
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*
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* @author Julian Oes <julian@oes.ch>
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* @author Beat Küng <beat-kueng@gmx.net>
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*/
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#pragma once
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#include <stdio.h>
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__BEGIN_DECLS
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/**
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* Get the stdout pipe buffer in order to write to fill it.
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*
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* @param buffer: pointer to buffer that will be set in function.
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* @param max_length: length of the assigned buffer.
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* @param is_atty: true if we are writing to a terminal (and can e.g. use colors).
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* @return 0 on success
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*/
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__EXPORT int get_stdout_pipe_buffer(char **buffer, unsigned *max_length, bool *is_atty);
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/**
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* Write the filled bytes to the pipe.
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*
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* @param buffer_length: the number of bytes that should be written.
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* @return 0 on success
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*/
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__EXPORT int send_stdout_pipe_buffer(unsigned buffer_length);
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__END_DECLS
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@@ -31,4 +31,5 @@
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#
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############################################################################
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add_subdirectory(px4_daemon)
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add_subdirectory(px4_layer)
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+437
-604
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,42 @@
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############################################################################
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#
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# Copyright (c) 2016 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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px4_add_library(px4_daemon
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pxh.cpp
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history.cpp
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client.cpp
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server.cpp
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server_io.cpp
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pipe_protocol.cpp
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)
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@@ -0,0 +1,345 @@
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/****************************************************************************
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*
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* Copyright (C) 2016 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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||||
* 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
|
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
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||||
*
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||||
* 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.
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||||
*
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****************************************************************************/
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/**
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* @file client.cpp
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*
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* @author Julian Oes <julian@oes.ch>
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* @author Beat Küng <beat-kueng@gmx.net>
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*/
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#include <errno.h>
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#include <stdio.h>
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#include <fcntl.h>
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#include <signal.h>
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <sys/un.h>
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#include <string>
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#include <px4_log.h>
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#include "client.h"
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namespace px4_daemon
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{
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namespace client
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{
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static Client *_instance;
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}
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Client::Client() :
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_uuid(0),
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_client_send_pipe_fd(-1)
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{
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client::_instance = this;
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}
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Client::~Client()
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{
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client::_instance = nullptr;
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}
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int
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Client::generate_uuid()
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{
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int rand_fd = open("/dev/urandom", O_RDONLY);
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if (rand_fd < 0) {
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PX4_ERR("open urandom");
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return rand_fd;
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}
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int ret = 0;
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int rand_read = read(rand_fd, &_uuid, sizeof(_uuid));
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if (rand_read != sizeof(_uuid)) {
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PX4_ERR("rand read fail");
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ret = -errno;
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}
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close(rand_fd);
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return ret;
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}
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int
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Client::process_args(const int argc, const char **argv)
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{
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// Prepare return pipe first to avoid a race.
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int ret = _prepare_recv_pipe();
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if (ret != 0) {
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PX4_ERR("Could not prepare recv pipe");
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return -2;
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}
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ret = _send_cmds(argc, argv);
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if (ret != 0) {
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PX4_ERR("Could not send commands");
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return -3;
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}
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return _listen();
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}
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int
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Client::_prepare_recv_pipe()
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{
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int ret = get_client_recv_pipe_path(_uuid, _recv_pipe_path, sizeof(_recv_pipe_path));
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if (ret < 0) {
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PX4_ERR("failed to assemble path");
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return ret;
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||||
}
|
||||
|
||||
ret = mkfifo(_recv_pipe_path, 0666);
|
||||
|
||||
if (ret < 0) {
|
||||
PX4_ERR("pipe %s already exists, errno: %d, %s", _recv_pipe_path, errno, strerror(errno));
|
||||
return ret;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int
|
||||
Client::_send_cmds(const int argc, const char **argv)
|
||||
{
|
||||
// Send the command to server.
|
||||
client_send_packet_s packet;
|
||||
packet.header.msg_id = client_send_packet_s::message_header_s::e_msg_id::EXECUTE;
|
||||
packet.header.client_uuid = _uuid;
|
||||
packet.payload.execute_msg.is_atty = isatty(STDOUT_FILENO);
|
||||
|
||||
// Concat arguments to send them.
|
||||
std::string cmd_buf;
|
||||
|
||||
for (int i = 0; i < argc; ++i) {
|
||||
cmd_buf += argv[i];
|
||||
|
||||
if (i + 1 != argc) {
|
||||
cmd_buf += " ";
|
||||
}
|
||||
}
|
||||
|
||||
if (cmd_buf.size() >= sizeof(packet.payload.execute_msg.cmd)) {
|
||||
PX4_ERR("commmand too long");
|
||||
return -1;
|
||||
}
|
||||
|
||||
strcpy((char *)packet.payload.execute_msg.cmd, cmd_buf.c_str());
|
||||
|
||||
// The size is +1 because we want to include the null termination.
|
||||
packet.header.payload_length = cmd_buf.size() + 1;
|
||||
|
||||
_client_send_pipe_fd = open(CLIENT_SEND_PIPE_PATH, O_WRONLY);
|
||||
|
||||
if (_client_send_pipe_fd < 0) {
|
||||
PX4_ERR("pipe open fail");
|
||||
return _client_send_pipe_fd;
|
||||
}
|
||||
|
||||
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");
|
||||
return bytes_sent;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int
|
||||
Client::_listen()
|
||||
{
|
||||
int client_recv_pipe_fd = open(_recv_pipe_path, O_RDONLY);
|
||||
|
||||
if (client_recv_pipe_fd < 0) {
|
||||
PX4_ERR("open failed, errno: %d, %s", errno, strerror(errno));
|
||||
}
|
||||
|
||||
bool exit_loop = false;
|
||||
int exit_arg = 0;
|
||||
|
||||
while (!exit_loop) {
|
||||
|
||||
// We only read as much as we need, otherwise we might get out of
|
||||
// sync with packets.
|
||||
client_recv_packet_s packet_recv;
|
||||
int bytes_read = read(client_recv_pipe_fd, &packet_recv, sizeof(client_recv_packet_s::header));
|
||||
|
||||
if (bytes_read > 0) {
|
||||
|
||||
// Using the header we can determine how big the payload is.
|
||||
int payload_to_read = sizeof(packet_recv)
|
||||
- sizeof(packet_recv.header)
|
||||
- sizeof(packet_recv.payload)
|
||||
+ packet_recv.header.payload_length;
|
||||
|
||||
// Again, we only read as much as we need because otherwise we need
|
||||
// hold a buffer and parse it.
|
||||
bytes_read = read(client_recv_pipe_fd, (char *)&packet_recv + bytes_read, payload_to_read);
|
||||
|
||||
if (bytes_read > 0) {
|
||||
|
||||
int retval = 0;
|
||||
bool should_exit = false;
|
||||
|
||||
int parse_ret = _parse_client_recv_packet(packet_recv, retval, should_exit);
|
||||
|
||||
if (parse_ret != 0) {
|
||||
PX4_ERR("retval could not be parsed");
|
||||
exit_arg = -1;
|
||||
|
||||
} else {
|
||||
exit_arg = retval;
|
||||
}
|
||||
|
||||
exit_loop = should_exit;
|
||||
|
||||
} else if (bytes_read == 0) {
|
||||
exit_arg = 0;
|
||||
exit_loop = true;
|
||||
}
|
||||
|
||||
} else if (bytes_read == 0) {
|
||||
// 0 means the pipe has been closed by all clients.
|
||||
exit_arg = 0;
|
||||
exit_loop = true;
|
||||
}
|
||||
}
|
||||
|
||||
close(_client_send_pipe_fd);
|
||||
return exit_arg;
|
||||
}
|
||||
|
||||
int
|
||||
Client::_parse_client_recv_packet(const client_recv_packet_s &packet, int &retval, bool &should_exit)
|
||||
{
|
||||
switch (packet.header.msg_id) {
|
||||
case client_recv_packet_s::message_header_s::e_msg_id::RETVAL:
|
||||
|
||||
should_exit = true;
|
||||
return _retval_cmd_packet(packet, retval);
|
||||
|
||||
case client_recv_packet_s::message_header_s::e_msg_id::STDOUT:
|
||||
|
||||
should_exit = false;
|
||||
return _stdout_msg_packet(packet);
|
||||
|
||||
default:
|
||||
should_exit = true;
|
||||
PX4_ERR("recv msg_id not handled: %d", (int)packet.header.msg_id);
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
|
||||
int
|
||||
Client::_retval_cmd_packet(const client_recv_packet_s &packet, int &retval)
|
||||
{
|
||||
if (packet.header.payload_length == sizeof(packet.payload.retval_msg.retval)) {
|
||||
retval = packet.payload.retval_msg.retval;
|
||||
return 0;
|
||||
|
||||
} else {
|
||||
PX4_ERR("payload size wrong");
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
|
||||
int
|
||||
Client::_stdout_msg_packet(const client_recv_packet_s &packet)
|
||||
{
|
||||
if (packet.header.payload_length <= sizeof(packet.payload.stdout_msg.text)) {
|
||||
|
||||
printf("%s", packet.payload.stdout_msg.text);
|
||||
|
||||
return 0;
|
||||
|
||||
} else {
|
||||
PX4_ERR("payload size wrong");
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
|
||||
void
|
||||
Client::register_sig_handler()
|
||||
{
|
||||
// Register handlers for Ctrl+C to kill the thread if something hangs.
|
||||
struct sigaction sig_int {};
|
||||
sig_int.sa_handler = Client::_static_sig_handler;
|
||||
|
||||
// Without the flag SA_RESTART, we can't use open() after Ctrl+C has
|
||||
// been pressed, and we can't wait for the return value from the
|
||||
// cancelled command.
|
||||
sig_int.sa_flags = SA_RESTART;
|
||||
sigaction(SIGINT, &sig_int, NULL);
|
||||
sigaction(SIGTERM, &sig_int, NULL);
|
||||
}
|
||||
|
||||
void
|
||||
Client::_static_sig_handler(int sig_num)
|
||||
{
|
||||
client::_instance->_sig_handler(sig_num);
|
||||
}
|
||||
|
||||
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");
|
||||
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");
|
||||
exit(-1);
|
||||
}
|
||||
}
|
||||
|
||||
} // namespace px4_daemon
|
||||
|
||||
@@ -0,0 +1,103 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2016 PX4 Development Team. 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
/**
|
||||
* @file client.h
|
||||
*
|
||||
* The client can write a command to the pipe that is supplied by the server.
|
||||
* It will then open another pipe with its own UUID encoded and listen for
|
||||
* stdout of the process that it started and the return value.
|
||||
*
|
||||
* It the client receives a signal (e.g. Ctrl+C) it will catch it and send it
|
||||
* as a message to the server in order to terminate the thread.
|
||||
*
|
||||
* @author Julian Oes <julian@oes.ch>
|
||||
* @author Beat Küng <beat-kueng@gmx.net>
|
||||
*/
|
||||
#pragma once
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
#include "pipe_protocol.h"
|
||||
|
||||
namespace px4_daemon
|
||||
{
|
||||
|
||||
|
||||
class Client
|
||||
{
|
||||
public:
|
||||
Client();
|
||||
~Client();
|
||||
|
||||
/**
|
||||
* Initialize the unique ID of the client.
|
||||
*
|
||||
* @return 0 on success.
|
||||
*/
|
||||
int generate_uuid();
|
||||
|
||||
/**
|
||||
* Make sure to catch signals in order to forward them to the server.
|
||||
*/
|
||||
void register_sig_handler();
|
||||
|
||||
/**
|
||||
* Process the supplied command line arguments and send them to server.
|
||||
*
|
||||
* @param argc: number of arguments
|
||||
* @param argv: argument values
|
||||
* @return 0 on success
|
||||
*/
|
||||
int process_args(const int argc, const char **argv);
|
||||
|
||||
private:
|
||||
int _prepare_recv_pipe();
|
||||
int _send_cmds(const int argc, const char **argv);
|
||||
int _listen();
|
||||
|
||||
int _parse_client_recv_packet(const client_recv_packet_s &packet, int &retval, bool &should_exit);
|
||||
|
||||
int _retval_cmd_packet(const client_recv_packet_s &packet, int &retval);
|
||||
int _stdout_msg_packet(const client_recv_packet_s &packet);
|
||||
|
||||
|
||||
static void _static_sig_handler(int sig_num);
|
||||
void _sig_handler(int sig_num);
|
||||
|
||||
uint64_t _uuid;
|
||||
int _client_send_pipe_fd;
|
||||
char _recv_pipe_path[RECV_PIPE_PATH_LEN];
|
||||
};
|
||||
|
||||
} // namespace px4_daemon
|
||||
|
||||
@@ -0,0 +1,126 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015-2016 PX4 Development Team. 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
/**
|
||||
* @file history.cpp
|
||||
*
|
||||
* @author Julian Oes <julian@oes.ch>
|
||||
*/
|
||||
|
||||
#include <string>
|
||||
#include <vector>
|
||||
|
||||
#include "history.h"
|
||||
|
||||
namespace px4_daemon
|
||||
{
|
||||
|
||||
void History::try_to_add(const std::string &line)
|
||||
{
|
||||
// Don't save an empty line.
|
||||
if (line.empty()) {
|
||||
return;
|
||||
}
|
||||
|
||||
// Don't add duplicate entries.
|
||||
if (!_history.empty() && line.compare(_history.back()) == 0) {
|
||||
return;
|
||||
}
|
||||
|
||||
if (_history.size() == MAX_HISTORY_SIZE) {
|
||||
_history.erase(_history.begin());
|
||||
}
|
||||
|
||||
_history.push_back(line);
|
||||
}
|
||||
|
||||
void History::reset_to_end()
|
||||
{
|
||||
_current_history_entry = _history.end();
|
||||
}
|
||||
|
||||
void History::try_to_save_current_line(const std::string &line)
|
||||
{
|
||||
// Don't save what's currently entered line if there is no history
|
||||
// entry to switch to.
|
||||
if (_history.empty()) {
|
||||
return;
|
||||
}
|
||||
|
||||
// Don't save the current line if we are already jumping around in
|
||||
// the history, and we must have already saved it.
|
||||
if (_current_history_entry != _history.end()) {
|
||||
return;
|
||||
}
|
||||
|
||||
_current_line = line;
|
||||
}
|
||||
|
||||
void History::get_previous(std::string &line)
|
||||
{
|
||||
if (_history.empty()) {
|
||||
return;
|
||||
}
|
||||
|
||||
if (_current_history_entry == _history.begin()) {
|
||||
return;
|
||||
}
|
||||
|
||||
_current_history_entry = std::prev(_current_history_entry);
|
||||
line = *_current_history_entry;
|
||||
}
|
||||
|
||||
void History::get_next(std::string &line)
|
||||
{
|
||||
if (_history.empty()) {
|
||||
return;
|
||||
}
|
||||
|
||||
// Already at the end, don't even try to get the next.
|
||||
if (_current_history_entry == _history.end()) {
|
||||
line = _current_line;
|
||||
return;
|
||||
}
|
||||
|
||||
_current_history_entry = std::next(_current_history_entry);
|
||||
|
||||
// We might have reached next now, ignore it and use what we saved
|
||||
// in the beginning.
|
||||
if (_current_history_entry == _history.end()) {
|
||||
line = _current_line;
|
||||
return;
|
||||
}
|
||||
|
||||
line = *_current_history_entry;
|
||||
}
|
||||
|
||||
} // namespace px4_daemon
|
||||
@@ -0,0 +1,104 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2016 PX4 Development Team. 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
/**
|
||||
* @file history.h
|
||||
*
|
||||
* Simple command history for the PX4 shell (pxh).
|
||||
*
|
||||
* This allows to go back in the history of entered commands.
|
||||
* Additionally, before going back in the history, the current prompt can get saved.
|
||||
*
|
||||
* @author Julian Oes <julian@oes.ch>
|
||||
*/
|
||||
#pragma once
|
||||
|
||||
#include <vector>
|
||||
#include <string>
|
||||
|
||||
namespace px4_daemon
|
||||
{
|
||||
|
||||
class History
|
||||
{
|
||||
public:
|
||||
/**
|
||||
* Try to append the current line to the history.
|
||||
* Ignore the line if it is empty or duplicate of the
|
||||
* last added one.
|
||||
*
|
||||
* Drop the first entry of the history if we reach the
|
||||
* MAX_HISTORY_SIZE.
|
||||
*
|
||||
* @param line: command line to be added.
|
||||
*/
|
||||
void try_to_add(const std::string &line);
|
||||
|
||||
/**
|
||||
* After executing a command in the shell, we want to be at
|
||||
* the end of the history again.
|
||||
*/
|
||||
void reset_to_end();
|
||||
|
||||
/**
|
||||
* If we start scrolling up in the history, we can try to save
|
||||
* the current command line. When we scroll back down, we can
|
||||
* get it out again.
|
||||
*
|
||||
* @param line: line to be saved
|
||||
*/
|
||||
void try_to_save_current_line(const std::string &line);
|
||||
|
||||
|
||||
/**
|
||||
* Set the previous (earlier) command from the history.
|
||||
*
|
||||
* @param line: swap to previous line if available.
|
||||
*/
|
||||
void get_previous(std::string &line);
|
||||
|
||||
/**
|
||||
* Set the next (more recent) command from the history.
|
||||
*
|
||||
* @param line: swap to next line if available, otherwise saved current.
|
||||
*/
|
||||
void get_next(std::string &line);
|
||||
|
||||
static const unsigned MAX_HISTORY_SIZE = 100;
|
||||
private:
|
||||
std::vector<std::string> _history;
|
||||
std::vector<std::string>::iterator _current_history_entry;
|
||||
std::string _current_line;
|
||||
};
|
||||
|
||||
} // namespace px4_daemon
|
||||
|
||||
@@ -0,0 +1,67 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2016 PX4 Development Team. 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
/**
|
||||
* @file pipe_protocol.cpp
|
||||
*
|
||||
* @author Julian Oes <julian@oes.ch>
|
||||
* @author Beat Küng <beat-kueng@gmx.net>
|
||||
*/
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdio.h>
|
||||
#include <inttypes.h>
|
||||
|
||||
#include "pipe_protocol.h"
|
||||
|
||||
namespace px4_daemon
|
||||
{
|
||||
|
||||
|
||||
unsigned get_client_send_packet_length(const client_send_packet_s *packet)
|
||||
{
|
||||
return sizeof(client_send_packet_s) - sizeof(packet->payload) + packet->header.payload_length + sizeof(uint8_t);
|
||||
}
|
||||
|
||||
unsigned get_client_recv_packet_length(const client_recv_packet_s *packet)
|
||||
{
|
||||
return sizeof(client_recv_packet_s) - sizeof(packet->payload) + packet->header.payload_length;
|
||||
}
|
||||
|
||||
int get_client_recv_pipe_path(const uint64_t uuid, char *path, const size_t path_len)
|
||||
{
|
||||
return snprintf(path, path_len, "%s_%016" PRIx64, CLIENT_RECV_PIPE_PATH, uuid);
|
||||
}
|
||||
|
||||
|
||||
} // namespace px4_daemon
|
||||
|
||||
@@ -0,0 +1,98 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2016 PX4 Development Team. 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
/**
|
||||
* @file pipe_protocol.h
|
||||
*
|
||||
* @author Julian Oes <julian@oes.ch>
|
||||
* @author Beat Küng <beat-kueng@gmx.net>
|
||||
*/
|
||||
#pragma once
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
namespace px4_daemon
|
||||
{
|
||||
|
||||
|
||||
static const char CLIENT_SEND_PIPE_PATH[] = "/tmp/px4_client_send_pipe";
|
||||
static const char CLIENT_RECV_PIPE_PATH[] = "/tmp/px4_client_recv_pipe";
|
||||
|
||||
static const unsigned RECV_PIPE_PATH_LEN = 64;
|
||||
|
||||
struct client_send_packet_s {
|
||||
struct message_header_s {
|
||||
enum class e_msg_id : uint8_t {
|
||||
EXECUTE,
|
||||
KILL
|
||||
} msg_id;
|
||||
uint64_t client_uuid;
|
||||
unsigned payload_length;
|
||||
} header;
|
||||
|
||||
union {
|
||||
struct execute_msg_s {
|
||||
uint8_t is_atty;
|
||||
uint8_t cmd[512 - sizeof(message_header_s) - sizeof(uint8_t)];
|
||||
} execute_msg;
|
||||
struct kill_msg_s {
|
||||
int cmd_id;
|
||||
} kill_msg;
|
||||
} payload;
|
||||
};
|
||||
|
||||
// We have per client receiver a pipe with the uuid in its file path.
|
||||
struct client_recv_packet_s {
|
||||
struct message_header_s {
|
||||
enum class e_msg_id : uint8_t {
|
||||
RETVAL,
|
||||
STDOUT
|
||||
} msg_id;
|
||||
unsigned payload_length;
|
||||
} header;
|
||||
|
||||
union {
|
||||
struct retval_msg_s {
|
||||
int retval;
|
||||
} retval_msg;
|
||||
struct stdout_msg_s {
|
||||
uint8_t text[512 - sizeof(message_header_s)];
|
||||
} stdout_msg;
|
||||
} payload;
|
||||
};
|
||||
|
||||
unsigned get_client_send_packet_length(const client_send_packet_s *packet);
|
||||
unsigned get_client_recv_packet_length(const client_recv_packet_s *packet);
|
||||
int get_client_recv_pipe_path(const uint64_t uuid, char *path, const size_t path_len);
|
||||
|
||||
} // namespace px4_daemon
|
||||
|
||||
@@ -0,0 +1,293 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2015-2016 PX4 Development Team. 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
/**
|
||||
* @file pxh.cpp
|
||||
*
|
||||
* This is a simple PX4 shell implementation used to start modules.
|
||||
*
|
||||
* @author Mark Charlebois <charlebm@gmail.com>
|
||||
* @author Roman Bapst <bapstroman@gmail.com>
|
||||
* @author Julian Oes <julian@oes.ch>
|
||||
*/
|
||||
|
||||
#include <string>
|
||||
#include <sstream>
|
||||
#include <vector>
|
||||
#include <stdio.h>
|
||||
|
||||
#include "pxh.h"
|
||||
|
||||
namespace px4_daemon
|
||||
{
|
||||
|
||||
Pxh *Pxh::_instance = nullptr;
|
||||
|
||||
apps_map_type Pxh::_apps = {};
|
||||
|
||||
|
||||
Pxh::Pxh()
|
||||
{
|
||||
_instance = this;
|
||||
}
|
||||
|
||||
Pxh::~Pxh()
|
||||
{
|
||||
_instance = nullptr;
|
||||
}
|
||||
|
||||
int Pxh::process_line(const std::string &line, bool silently_fail)
|
||||
{
|
||||
if (line.empty()) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
if (_apps.size() == 0) {
|
||||
init_app_map(_apps);
|
||||
}
|
||||
|
||||
std::stringstream line_stream(line);
|
||||
std::string word;
|
||||
std::vector<std::string> words;
|
||||
|
||||
// First arg should be the command.
|
||||
while (line_stream >> word) {
|
||||
words.push_back(word);
|
||||
}
|
||||
|
||||
const std::string &command(words.front());
|
||||
|
||||
if (_apps.find(command) != _apps.end()) {
|
||||
|
||||
// Note that argv[argc] always needs to be a nullptr.
|
||||
// Therefore add one more entry.
|
||||
const char *arg[words.size() + 1];
|
||||
|
||||
for (unsigned i = 0; i < words.size(); ++i) {
|
||||
arg[i] = (char *)words[i].c_str();
|
||||
}
|
||||
|
||||
// Explicitly set this nullptr.
|
||||
arg[words.size()] = nullptr;
|
||||
|
||||
int retval = _apps[command](words.size(), (char **)arg);
|
||||
|
||||
if (retval) {
|
||||
if (!silently_fail) {
|
||||
printf("Command '%s' failed, returned %d.\n", command.c_str(), retval);
|
||||
}
|
||||
}
|
||||
|
||||
return retval;
|
||||
|
||||
} else if (command.compare("help") == 0) {
|
||||
list_builtins(_apps);
|
||||
return 0;
|
||||
|
||||
} else if (command.length() == 0 || command[0] == '#') {
|
||||
// Do nothing
|
||||
return 0;
|
||||
|
||||
} else if (!silently_fail) {
|
||||
//std::cout << "Invalid command: " << command << "\ntype 'help' for a list of commands" << endl;
|
||||
printf("Invalid command: %s\ntype 'help' for a list of commands\n", command.c_str());
|
||||
return -1;
|
||||
|
||||
} else {
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void Pxh::run_pxh()
|
||||
{
|
||||
_should_exit = false;
|
||||
|
||||
_setup_term();
|
||||
|
||||
std::string mystr = "";
|
||||
int cursor_position = 0; // position of the cursor from right to left
|
||||
// (0: all the way to the right, mystr.length: all the way to the left)
|
||||
|
||||
_print_prompt();
|
||||
|
||||
while (!_should_exit) {
|
||||
|
||||
int c = getchar();
|
||||
std::string add_string; // string to add at current cursor position
|
||||
bool update_prompt = true;
|
||||
|
||||
switch (c) {
|
||||
case EOF:
|
||||
_should_exit = true;
|
||||
break;
|
||||
|
||||
case 127: // backslash
|
||||
if ((int)mystr.length() - cursor_position > 0) {
|
||||
mystr.erase(mystr.length() - cursor_position - 1, 1);
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
case '\n': // user hit enter
|
||||
_history.try_to_add(mystr);
|
||||
_history.reset_to_end();
|
||||
|
||||
printf("\n");
|
||||
process_line(mystr, false);
|
||||
// reset string and cursor position
|
||||
mystr = "";
|
||||
cursor_position = 0;
|
||||
|
||||
update_prompt = false;
|
||||
_print_prompt();
|
||||
break;
|
||||
|
||||
case '\033': { // arrow keys
|
||||
c = getchar(); // skip first one, does not have the info
|
||||
c = getchar();
|
||||
|
||||
if (c == 'A') { // arrow up
|
||||
_history.try_to_save_current_line(mystr);
|
||||
_history.get_previous(mystr);
|
||||
cursor_position = 0; // move cursor to end of line
|
||||
|
||||
} else if (c == 'B') { // arrow down
|
||||
_history.get_next(mystr);
|
||||
cursor_position = 0; // move cursor to end of line
|
||||
|
||||
} else if (c == 'C') { // arrow right
|
||||
if (cursor_position > 0) {
|
||||
cursor_position--;
|
||||
}
|
||||
|
||||
} else if (c == 'D') { // arrow left
|
||||
if (cursor_position < (int)mystr.length()) {
|
||||
cursor_position++;
|
||||
}
|
||||
|
||||
} else if (c == 'H') { // Home (go to the beginning of the command)
|
||||
cursor_position = mystr.length();
|
||||
|
||||
} else if (c == '1') { // Home (go to the beginning of the command, Editing key)
|
||||
(void)getchar(); // swallow '~'
|
||||
cursor_position = mystr.length();
|
||||
|
||||
} else if (c == 'F') { // End (go to the end of the command)
|
||||
cursor_position = 0;
|
||||
|
||||
} else if (c == '4') { // End (go to the end of the command, Editing key)
|
||||
(void)getchar(); // swallow '~'
|
||||
cursor_position = 0;
|
||||
}
|
||||
|
||||
break;
|
||||
}
|
||||
|
||||
default: // any other input
|
||||
if (c > 3) {
|
||||
add_string += (char)c;
|
||||
|
||||
} else {
|
||||
update_prompt = false;
|
||||
}
|
||||
|
||||
break;
|
||||
}
|
||||
|
||||
|
||||
if (update_prompt) {
|
||||
// reprint prompt with mystr
|
||||
mystr.insert(mystr.length() - cursor_position, add_string);
|
||||
_clear_line();
|
||||
_print_prompt();
|
||||
printf("%s", mystr.c_str());
|
||||
|
||||
// Move the cursor to its position
|
||||
if (cursor_position > 0) {
|
||||
_move_cursor(cursor_position);
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
return;
|
||||
}
|
||||
|
||||
void Pxh::stop()
|
||||
{
|
||||
_restore_term();
|
||||
|
||||
if (_instance) {
|
||||
_instance->_should_exit = true;
|
||||
}
|
||||
}
|
||||
|
||||
void Pxh::_setup_term()
|
||||
{
|
||||
// Make sure we restore terminal at exit.
|
||||
tcgetattr(0, &_orig_term);
|
||||
atexit(Pxh::_restore_term);
|
||||
|
||||
// change input mode so that we can manage shell
|
||||
struct termios term;
|
||||
tcgetattr(0, &term);
|
||||
term.c_lflag &= ~ICANON;
|
||||
term.c_lflag &= ~ECHO;
|
||||
tcsetattr(0, TCSANOW, &term);
|
||||
setbuf(stdin, NULL);
|
||||
}
|
||||
|
||||
void Pxh::_restore_term(void)
|
||||
{
|
||||
if (_instance) {
|
||||
tcsetattr(0, TCSANOW, &_instance->_orig_term);
|
||||
}
|
||||
}
|
||||
|
||||
void Pxh::_print_prompt()
|
||||
{
|
||||
fflush(stdout);
|
||||
printf("pxh> ");
|
||||
fflush(stdout);
|
||||
}
|
||||
|
||||
void Pxh::_clear_line()
|
||||
{
|
||||
printf("%c[2K%c", (char)27, (char)13);
|
||||
}
|
||||
void Pxh::_move_cursor(int position)
|
||||
{
|
||||
printf("\033[%dD", position);
|
||||
}
|
||||
|
||||
} // namespace px4_daemon
|
||||
@@ -0,0 +1,98 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2016 PX4 Development Team. 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
/**
|
||||
* @file pxh.h
|
||||
*
|
||||
* The POSIX PX4 implementation features a simple shell to start modules
|
||||
* or use system commands.
|
||||
*
|
||||
* @author Mark Charlebois <charlebm@gmail.com>
|
||||
* @author Roman Bapst <bapstroman@gmail.com>
|
||||
* @author Julian Oes <julian@oes.ch>
|
||||
*/
|
||||
#pragma once
|
||||
|
||||
#include <vector>
|
||||
#include <string>
|
||||
#include <termios.h>
|
||||
|
||||
#include <platforms/posix/apps.h>
|
||||
#include "history.h"
|
||||
|
||||
namespace px4_daemon
|
||||
{
|
||||
|
||||
|
||||
class Pxh
|
||||
{
|
||||
public:
|
||||
Pxh();
|
||||
~Pxh();
|
||||
|
||||
/**
|
||||
* Process and run one command line.
|
||||
*
|
||||
* @param silently_fail: don't make a fuss on failure
|
||||
* @return 0 if successful. */
|
||||
static int process_line(const std::string &line, bool silently_fail);
|
||||
|
||||
/**
|
||||
* Run the pxh shell. This will only return if stop() is called.
|
||||
*/
|
||||
void run_pxh();
|
||||
|
||||
/**
|
||||
* Can be called to stop pxh.
|
||||
*/
|
||||
static void stop();
|
||||
|
||||
private:
|
||||
void _print_prompt();
|
||||
void _move_cursor(int position);
|
||||
void _clear_line();
|
||||
|
||||
void _setup_term();
|
||||
static void _restore_term();
|
||||
|
||||
bool _should_exit;
|
||||
History _history;
|
||||
struct termios _orig_term;
|
||||
|
||||
static apps_map_type _apps;
|
||||
static Pxh *_instance;
|
||||
};
|
||||
|
||||
|
||||
|
||||
} // namespace px4_daemon
|
||||
|
||||
@@ -0,0 +1,304 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2016 PX4 Development Team. 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
/**
|
||||
* @file server.cpp
|
||||
*
|
||||
* @author Julian Oes <julian@oes.ch>
|
||||
* @author Beat Küng <beat-kueng@gmx.net>
|
||||
*/
|
||||
|
||||
#include <fcntl.h>
|
||||
#include <unistd.h>
|
||||
#include <string>
|
||||
#include <pthread.h>
|
||||
#include <poll.h>
|
||||
#include <sys/stat.h>
|
||||
#include <sys/types.h>
|
||||
|
||||
#include <px4_log.h>
|
||||
|
||||
#include "pxh.h"
|
||||
#include "server.h"
|
||||
|
||||
|
||||
|
||||
namespace px4_daemon
|
||||
{
|
||||
|
||||
Server *Server::_instance = nullptr;
|
||||
|
||||
Server::Server()
|
||||
{
|
||||
_instance = this;
|
||||
}
|
||||
|
||||
Server::~Server()
|
||||
{
|
||||
_instance = nullptr;
|
||||
}
|
||||
|
||||
int
|
||||
Server::start()
|
||||
{
|
||||
if (0 != pthread_create(&_server_main_pthread,
|
||||
NULL,
|
||||
_server_main_trampoline,
|
||||
NULL)) {
|
||||
|
||||
PX4_ERR("error creating client handler thread");
|
||||
|
||||
return -1;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
void *
|
||||
Server::_server_main_trampoline(void *arg)
|
||||
{
|
||||
if (_instance) {
|
||||
_instance->_server_main(arg);
|
||||
}
|
||||
|
||||
return NULL;
|
||||
}
|
||||
|
||||
void Server::_pthread_key_destructor(void *arg)
|
||||
{
|
||||
delete ((CmdThreadSpecificData *)arg);
|
||||
}
|
||||
|
||||
void
|
||||
Server::_server_main(void *arg)
|
||||
{
|
||||
// Set thread specific pipe to supplied file descriptor.
|
||||
int ret = pthread_key_create(&_key, _pthread_key_destructor);
|
||||
|
||||
if (ret != 0) {
|
||||
PX4_ERR("failed to create pthread key");
|
||||
return;
|
||||
}
|
||||
|
||||
// Delete pipe in case it exists already.
|
||||
unlink(CLIENT_SEND_PIPE_PATH);
|
||||
|
||||
// Create new pipe to listen to clients.
|
||||
mkfifo(CLIENT_SEND_PIPE_PATH, 0666);
|
||||
int client_send_pipe_fd = open(CLIENT_SEND_PIPE_PATH, O_RDONLY);
|
||||
|
||||
while (true) {
|
||||
|
||||
client_send_packet_s packet;
|
||||
|
||||
int bytes_read = read(client_send_pipe_fd, &packet, sizeof(packet));
|
||||
|
||||
if (bytes_read > 0) {
|
||||
_parse_client_send_packet(packet);
|
||||
|
||||
} else if (bytes_read == 0) {
|
||||
// 0 means the pipe has been closed by all clients
|
||||
// and we need to re-open it.
|
||||
close(client_send_pipe_fd);
|
||||
client_send_pipe_fd = open(CLIENT_SEND_PIPE_PATH, O_RDONLY);
|
||||
}
|
||||
}
|
||||
|
||||
close(client_send_pipe_fd);
|
||||
return;
|
||||
}
|
||||
|
||||
void
|
||||
Server::_parse_client_send_packet(const client_send_packet_s &packet)
|
||||
{
|
||||
switch (packet.header.msg_id) {
|
||||
case client_send_packet_s::message_header_s::e_msg_id::EXECUTE:
|
||||
_execute_cmd_packet(packet);
|
||||
break;
|
||||
|
||||
case client_send_packet_s::message_header_s::e_msg_id::KILL:
|
||||
_kill_cmd_packet(packet);
|
||||
break;
|
||||
|
||||
default:
|
||||
PX4_ERR("send msg_id not handled");
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void
|
||||
Server::_execute_cmd_packet(const client_send_packet_s &packet)
|
||||
{
|
||||
if (packet.header.payload_length == 0) {
|
||||
PX4_ERR("command length 0");
|
||||
return;
|
||||
}
|
||||
|
||||
// We open the client's specific pipe to write the return value and stdout back to.
|
||||
// The pipe's path is created knowing the UUID of the client.
|
||||
char path[RECV_PIPE_PATH_LEN] = {};
|
||||
int ret = get_client_recv_pipe_path(packet.header.client_uuid, path, RECV_PIPE_PATH_LEN);
|
||||
|
||||
if (ret < 0) {
|
||||
PX4_ERR("failed to assemble path");
|
||||
return;
|
||||
}
|
||||
|
||||
int pipe_fd = open(path, O_WRONLY);
|
||||
|
||||
if (pipe_fd < 0) {
|
||||
PX4_ERR("pipe open fail");
|
||||
return;
|
||||
}
|
||||
|
||||
// To execute a command we start a new thread.
|
||||
pthread_t new_pthread;
|
||||
|
||||
// We need to copy everything that the new thread needs because we will go
|
||||
// out of scope.
|
||||
RunCmdArgs *args = new RunCmdArgs;
|
||||
memcpy(args->cmd, packet.payload.execute_msg.cmd, sizeof(args->cmd));
|
||||
args->client_uuid = packet.header.client_uuid;
|
||||
args->pipe_fd = pipe_fd;
|
||||
args->is_atty = packet.payload.execute_msg.is_atty;
|
||||
|
||||
if (0 != pthread_create(&new_pthread, NULL, Server::_run_cmd, (void *)args)) {
|
||||
PX4_ERR("could not start pthread");
|
||||
delete args;
|
||||
return;
|
||||
}
|
||||
|
||||
// We keep two maps for cleanup if a thread is finished or killed.
|
||||
_client_uuid_to_pthread.insert(std::pair<uint64_t, pthread_t>
|
||||
(packet.header.client_uuid, new_pthread));
|
||||
_pthread_to_pipe_fd.insert(std::pair<pthread_t, int>
|
||||
(new_pthread, pipe_fd));
|
||||
}
|
||||
|
||||
|
||||
void
|
||||
Server::_kill_cmd_packet(const client_send_packet_s &packet)
|
||||
{
|
||||
// TODO: we currently ignore the signal type.
|
||||
|
||||
pthread_t pthread_to_kill = _client_uuid_to_pthread.get(packet.header.client_uuid);
|
||||
|
||||
// TODO: use a more graceful exit method to avoid resource leaks
|
||||
int ret = pthread_cancel(pthread_to_kill);
|
||||
|
||||
if (ret != 0) {
|
||||
PX4_ERR("failed to cancel thread");
|
||||
}
|
||||
|
||||
_cleanup_thread(packet.header.client_uuid);
|
||||
|
||||
// We don't send retval when we get killed.
|
||||
// The client knows this and just exits without confirmation.
|
||||
}
|
||||
|
||||
|
||||
|
||||
void
|
||||
*Server::_run_cmd(void *arg)
|
||||
{
|
||||
RunCmdArgs *args = (RunCmdArgs *)arg;
|
||||
|
||||
// Copy arguments so that we can cleanup the arg structure.
|
||||
uint64_t client_uuid = args->client_uuid;
|
||||
int pipe_fd = args->pipe_fd;
|
||||
bool is_atty = args->is_atty;
|
||||
std::string message_str(args->cmd);
|
||||
|
||||
// Clean up the args from the heap in case the thread gets canceled
|
||||
// from outside.
|
||||
delete args;
|
||||
|
||||
// We register thread specific data. This is used for PX4_INFO (etc.) log calls.
|
||||
CmdThreadSpecificData *thread_data_ptr;
|
||||
|
||||
if ((thread_data_ptr = (CmdThreadSpecificData *)pthread_getspecific(_instance->_key)) == NULL) {
|
||||
thread_data_ptr = new CmdThreadSpecificData;
|
||||
thread_data_ptr->pipe_fd = pipe_fd;
|
||||
thread_data_ptr->is_atty = is_atty;
|
||||
thread_data_ptr->packet.header.msg_id = client_recv_packet_s::message_header_s::e_msg_id::STDOUT;
|
||||
|
||||
(void)pthread_setspecific(_instance->_key, (void *)thread_data_ptr);
|
||||
}
|
||||
|
||||
// Run the actual command.
|
||||
int retval = Pxh::process_line(message_str, true);
|
||||
|
||||
// Report return value.
|
||||
_send_retval(pipe_fd, retval, client_uuid);
|
||||
|
||||
// Clean up before returning.
|
||||
_instance->_cleanup_thread(client_uuid);
|
||||
|
||||
return NULL;
|
||||
}
|
||||
|
||||
|
||||
void
|
||||
Server::_send_retval(const int pipe_fd, const int retval, const uint64_t client_uuid)
|
||||
{
|
||||
client_recv_packet_s packet;
|
||||
|
||||
packet.header.msg_id = client_recv_packet_s::message_header_s::e_msg_id::RETVAL;
|
||||
packet.header.payload_length = sizeof(packet.payload.retval_msg);
|
||||
packet.payload.retval_msg.retval = retval;
|
||||
|
||||
int bytes_to_send = get_client_recv_packet_length(&packet);
|
||||
int bytes_sent = write(pipe_fd, &packet, bytes_to_send);
|
||||
|
||||
if (bytes_sent != bytes_to_send) {
|
||||
printf("write fail\n");
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
void
|
||||
Server::_cleanup_thread(const uint64_t client_uuid)
|
||||
{
|
||||
pthread_t pthread_killed = _client_uuid_to_pthread.get(client_uuid);
|
||||
int pipe_fd = _pthread_to_pipe_fd.get(pthread_killed);
|
||||
|
||||
close(pipe_fd);
|
||||
|
||||
char path[RECV_PIPE_PATH_LEN] = {};
|
||||
get_client_recv_pipe_path(client_uuid, path, RECV_PIPE_PATH_LEN);
|
||||
unlink(path);
|
||||
|
||||
_client_uuid_to_pthread.erase(client_uuid);
|
||||
_pthread_to_pipe_fd.erase(pthread_killed);
|
||||
}
|
||||
|
||||
} //namespace px4_daemon
|
||||
@@ -0,0 +1,128 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2016 PX4 Development Team. 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
/**
|
||||
* @file server.h
|
||||
*
|
||||
* The server (also called daemon) opens a pipe for clients to write to.
|
||||
*
|
||||
* Once a client connects it will send a command as well as a unique ID.
|
||||
* The server will return the stdout of the executing command, as well as the return
|
||||
* value to the client on a client specific pipe.
|
||||
* The client specific pipe are idenified by the unique ID of the client.
|
||||
*
|
||||
* There should only every be one server running, therefore the static instance.
|
||||
* The Singleton implementation is not complete, but it should be obvious not
|
||||
* to instantiate multiple servers.
|
||||
*
|
||||
* @author Julian Oes <julian@oes.ch>
|
||||
* @author Beat Küng <beat-kueng@gmx.net>
|
||||
*/
|
||||
#pragma once
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <pthread.h>
|
||||
#include <map>
|
||||
|
||||
#include "pipe_protocol.h"
|
||||
#include "threadsafe_map.h"
|
||||
|
||||
|
||||
namespace px4_daemon
|
||||
{
|
||||
|
||||
class Server
|
||||
{
|
||||
public:
|
||||
Server();
|
||||
~Server();
|
||||
|
||||
/**
|
||||
* Start the server. This will spawn a thread with a
|
||||
* while loop waiting for clients sending commands.
|
||||
*
|
||||
* @return 0 if started successfully
|
||||
*/
|
||||
int start();
|
||||
|
||||
|
||||
struct CmdThreadSpecificData {
|
||||
int pipe_fd; // pipe fd to send data to descriptor
|
||||
bool is_atty; // whether file descriptor refers to a terminal
|
||||
client_recv_packet_s packet;
|
||||
};
|
||||
|
||||
static bool is_running()
|
||||
{
|
||||
return _instance != nullptr;
|
||||
}
|
||||
|
||||
static pthread_key_t get_pthread_key()
|
||||
{
|
||||
return _instance->_key;
|
||||
}
|
||||
private:
|
||||
static void *_server_main_trampoline(void *arg);
|
||||
void _server_main(void *arg);
|
||||
|
||||
void _parse_client_send_packet(const client_send_packet_s &packet);
|
||||
void _execute_cmd_packet(const client_send_packet_s &packet);
|
||||
void _kill_cmd_packet(const client_send_packet_s &packet);
|
||||
void _cleanup_thread(const uint64_t client_uuid);
|
||||
|
||||
static void _send_retval(const int pipe_fd, const int retval, const uint64_t client_uuid);
|
||||
|
||||
struct RunCmdArgs {
|
||||
char cmd[sizeof(client_send_packet_s::payload.execute_msg.cmd)];
|
||||
uint64_t client_uuid;
|
||||
bool is_atty;
|
||||
int pipe_fd;
|
||||
};
|
||||
|
||||
static void *_run_cmd(void *arg);
|
||||
|
||||
pthread_t _server_main_pthread;
|
||||
|
||||
ThreadsafeMap <pthread_t, int> _pthread_to_pipe_fd;
|
||||
ThreadsafeMap <uint64_t, pthread_t> _client_uuid_to_pthread;
|
||||
|
||||
pthread_key_t _key;
|
||||
|
||||
static void _pthread_key_destructor(void *arg);
|
||||
|
||||
static Server *_instance;
|
||||
};
|
||||
|
||||
|
||||
} // namespace px4_daemon
|
||||
|
||||
@@ -0,0 +1,135 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2016 PX4 Development Team. 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
/**
|
||||
* @file server_io.cpp
|
||||
*
|
||||
* @author Julian Oes <julian@oes.ch>
|
||||
* @author Beat Küng <beat-kueng@gmx.net>
|
||||
*/
|
||||
|
||||
#include <fcntl.h>
|
||||
#include <unistd.h>
|
||||
#include <string>
|
||||
#include <pthread.h>
|
||||
#include <poll.h>
|
||||
#include <assert.h>
|
||||
#include <sys/stat.h>
|
||||
#include <sys/types.h>
|
||||
|
||||
#include <px4_log.h>
|
||||
|
||||
#include "server.h"
|
||||
#include <px4_daemon/server_io.h>
|
||||
#include "pipe_protocol.h"
|
||||
|
||||
|
||||
using namespace px4_daemon;
|
||||
|
||||
|
||||
int get_stdout_pipe_buffer(char **buffer, unsigned *max_length, bool *is_atty)
|
||||
{
|
||||
// The thread specific data won't be initialized if the server is not running.
|
||||
Server::CmdThreadSpecificData *thread_data_ptr;
|
||||
|
||||
if (!Server::is_running()) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
// If we are not in a thread that has been started by a client, we don't
|
||||
// have any thread specific data set and we won't have a pipe to write
|
||||
// stdout to.
|
||||
if ((thread_data_ptr = (Server::CmdThreadSpecificData *)pthread_getspecific(
|
||||
Server::get_pthread_key())) == NULL) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
#ifdef __PX4_POSIX_EAGLE
|
||||
|
||||
// XXX FIXME: thread_data_ptr is set to 0x1 in the main thread on Snapdragon
|
||||
// even though the pthread_key has been created.
|
||||
// We can catch this using the check below but we have no clue why this happens.
|
||||
if (thread_data_ptr == (void *)0x1) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
client_recv_packet_s *packet = &thread_data_ptr->packet;
|
||||
|
||||
*buffer = (char *)packet->payload.stdout_msg.text;
|
||||
*max_length = sizeof(packet->payload.stdout_msg.text);
|
||||
*is_atty = thread_data_ptr->is_atty;
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int send_stdout_pipe_buffer(unsigned buffer_length)
|
||||
{
|
||||
assert(buffer_length <= sizeof(client_recv_packet_s::payload.stdout_msg.text));
|
||||
|
||||
Server::CmdThreadSpecificData *thread_data_ptr;
|
||||
|
||||
if (!Server::is_running()) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
if ((thread_data_ptr = (Server::CmdThreadSpecificData *)pthread_getspecific(
|
||||
Server::get_pthread_key())) == NULL) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
client_recv_packet_s *packet = &thread_data_ptr->packet;
|
||||
packet->header.payload_length = buffer_length;
|
||||
|
||||
int pipe_fd = thread_data_ptr->pipe_fd;
|
||||
int bytes_to_send = get_client_recv_packet_length(packet);
|
||||
|
||||
// Check if we can write first by writing 0 bytes.
|
||||
// If we don't do this, we'll get SIGPIPE and be very unhappy
|
||||
// because the whole process will go down.
|
||||
int ret = write(pipe_fd, NULL, 0);
|
||||
|
||||
if (ret == 0 && errno == EPIPE) {
|
||||
printf("Error: can't write to closed pipe, giving up.\n");
|
||||
pthread_exit(NULL);
|
||||
}
|
||||
|
||||
int bytes_sent = write(pipe_fd, packet, bytes_to_send);
|
||||
|
||||
if (bytes_sent != bytes_to_send) {
|
||||
printf("write fail\n");
|
||||
return -1;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
@@ -0,0 +1,104 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2016 PX4 Development Team. 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
/**
|
||||
* @file threadsafe_map.h
|
||||
*
|
||||
* This is a small wrapper for std::map to make it thread-safe.
|
||||
*
|
||||
* @author Julian Oes <julian@oes.ch>
|
||||
*/
|
||||
#pragma once
|
||||
|
||||
#include <pthread.h>
|
||||
#include <map>
|
||||
|
||||
|
||||
namespace px4_daemon
|
||||
{
|
||||
|
||||
template <class Key, class Type>
|
||||
class ThreadsafeMap
|
||||
{
|
||||
public:
|
||||
ThreadsafeMap() :
|
||||
_mutex(PTHREAD_MUTEX_INITIALIZER) {};
|
||||
~ThreadsafeMap() {};
|
||||
|
||||
/**
|
||||
* Insert an entry into the map.
|
||||
*/
|
||||
void
|
||||
insert(std::pair<Key, Type> pair)
|
||||
{
|
||||
_lock();
|
||||
_map.insert(pair);
|
||||
_unlock();
|
||||
}
|
||||
|
||||
/**
|
||||
* Get an entry into from the map.
|
||||
*/
|
||||
Type get(Key key)
|
||||
{
|
||||
// Supposedly locking is not needed to read but since we're
|
||||
// not sure, let's lock anyway.
|
||||
_lock();
|
||||
const Type temp = _map[key];
|
||||
_unlock();
|
||||
return temp;
|
||||
}
|
||||
|
||||
void erase(Key key)
|
||||
{
|
||||
_lock();
|
||||
_map.erase(key);
|
||||
_unlock();
|
||||
}
|
||||
private:
|
||||
void _lock()
|
||||
{
|
||||
pthread_mutex_lock(&_mutex);
|
||||
}
|
||||
|
||||
void _unlock()
|
||||
{
|
||||
pthread_mutex_unlock(&_mutex);
|
||||
}
|
||||
|
||||
std::map<Key, Type> _map;
|
||||
pthread_mutex_t _mutex;
|
||||
|
||||
};
|
||||
|
||||
} // namespace px4_daemon
|
||||
|
||||
@@ -54,6 +54,7 @@ add_library(px4_layer
|
||||
${SHMEM_SRCS}
|
||||
)
|
||||
target_link_libraries(px4_layer PRIVATE work_queue)
|
||||
target_link_libraries(px4_layer PRIVATE px4_daemon)
|
||||
|
||||
if (EXTRA_DEPENDS)
|
||||
add_dependencies(px4_layer ${EXTRA_DEPENDS})
|
||||
|
||||
@@ -122,16 +122,11 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
|
||||
char *const argv[])
|
||||
{
|
||||
|
||||
int rv;
|
||||
int argc = 0;
|
||||
int i;
|
||||
int argc = 0;
|
||||
unsigned int len = 0;
|
||||
unsigned long offset;
|
||||
unsigned long structsize;
|
||||
char *p = (char *)argv;
|
||||
|
||||
pthread_attr_t attr;
|
||||
struct sched_param param = {};
|
||||
char *p = (char *)argv;
|
||||
|
||||
// Calculate argc
|
||||
while (p != (char *)nullptr) {
|
||||
@@ -145,12 +140,12 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
|
||||
len += strlen(p) + 1;
|
||||
}
|
||||
|
||||
structsize = sizeof(pthdata_t) + (argc + 1) * sizeof(char *);
|
||||
unsigned long structsize = sizeof(pthdata_t) + (argc + 1) * sizeof(char *);
|
||||
|
||||
// not safe to pass stack data to the thread creation
|
||||
pthdata_t *taskdata = (pthdata_t *)malloc(structsize + len);
|
||||
memset(taskdata, 0, structsize + len);
|
||||
offset = ((unsigned long)taskdata) + structsize;
|
||||
unsigned long offset = ((unsigned long)taskdata) + structsize;
|
||||
|
||||
strncpy(taskdata->name, name, 16);
|
||||
taskdata->name[15] = 0;
|
||||
@@ -169,7 +164,8 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
|
||||
|
||||
PX4_DEBUG("starting task %s", name);
|
||||
|
||||
rv = pthread_attr_init(&attr);
|
||||
pthread_attr_t attr;
|
||||
int rv = pthread_attr_init(&attr);
|
||||
|
||||
if (rv != 0) {
|
||||
PX4_ERR("px4_task_spawn_cmd: failed to init thread attrs");
|
||||
@@ -230,10 +226,9 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
|
||||
|
||||
pthread_mutex_lock(&task_mutex);
|
||||
|
||||
int taskid = 0;
|
||||
|
||||
px4_task_t taskid = 0;
|
||||
for (i = 0; i < PX4_MAX_TASKS; ++i) {
|
||||
if (taskmap[i].isused == false) {
|
||||
if (!taskmap[i].isused) {
|
||||
taskmap[i].name = name;
|
||||
taskmap[i].isused = true;
|
||||
taskid = i;
|
||||
@@ -276,7 +271,7 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
|
||||
pthread_attr_destroy(&attr);
|
||||
pthread_mutex_unlock(&task_mutex);
|
||||
|
||||
return i;
|
||||
return taskid;
|
||||
}
|
||||
|
||||
int px4_task_delete(px4_task_t id)
|
||||
|
||||
Reference in New Issue
Block a user