PX4-Autopilot/platforms/common/apps.cpp.in

/* definitions of builtin command list - automatically generated, do not edit */
#include <px4_platform_common/time.h>
#include <px4_platform_common/posix.h>
#include <px4_platform_common/log.h>
#include <px4_platform_common/exit.h>
#include <uORB/uORB.h>

#include "apps.h"

#include <cstdio>
#include <map>
#include <string>

#include <cstdlib>

#define MODULE_NAME "px4"

extern "C" {

${builtin_apps_decl_string}
int shutdown_main(int argc, char *argv[]);
int list_tasks_main(int argc, char *argv[]);
int list_files_main(int argc, char *argv[]);
int sleep_main(int argc, char *argv[]);

}

void init_app_map(apps_map_type &apps)
{
	${builtin_apps_string}
	apps["shutdown"] = shutdown_main;
	apps["list_tasks"] = list_tasks_main;
	apps["list_files"] = list_files_main;
	apps["sleep"] = sleep_main;
}

void list_builtins(apps_map_type &apps)
{
	printf("Builtin Commands:\n");
	for (apps_map_type::iterator it = apps.begin(); it != apps.end(); ++it) {
		printf("  %s\n", it->first.c_str());
	}
}

int shutdown_main(int argc, char *argv[])
{
	// Reject any leftover positional arguments (e.g. "status", "start", "stop").
	// shutdown takes no flags or subcommands -- it always tears the daemon
	// down -- so silently ignoring extra args would terminate the daemon when
	// the user almost certainly meant a different module (e.g.
	// "<module> status"). Print usage and exit non-zero instead.
	if (argc > 1) {
		PX4_ERR("unrecognized argument: %s", argv[1]);
		printf("Usage:\n  shutdown\n");
		return 1;
	}

	printf("Exiting NOW.\n");
	uorb_shutdown();
	px4_platform_exit(0);
	return 0;
}

int list_tasks_main(int argc, char *argv[])
{
	px4_show_tasks();
	return 0;
}

int list_files_main(int argc, char *argv[])
{
	px4_show_files();
	return 0;
}

int sleep_main(int argc, char *argv[])
{
        if (argc != 2) {
           PX4_WARN( "Usage: sleep <seconds>" );
           return 1;
        }

        unsigned long usecs = 1000000UL * atol(argv[1]);
        printf("Sleeping for %s s; (%lu us).\n", argv[1], usecs);
        px4_usleep(usecs);
        return 0;
}