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https://github.com/paparazzi/paparazzi.git
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Open UAS
108 lines
3.2 KiB
C
108 lines
3.2 KiB
C
/*
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* Copyright (C) 2016 The Paparazzi Team
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*
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* This file is part of paparazzi.
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, see
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* <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file boards/ardrone/board.c
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*
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* ARDrone2 specific board initialization function.
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*
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*/
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#include <stdlib.h>
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#include <stdio.h>
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#include <string.h>
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#include <unistd.h>
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#include "mcu.h"
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/* Check if the bat_voltage_ardrone2 module is loaded */
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#include "generated/modules.h"
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#ifndef BAT_VOLTAGE_ARDRONE2_PERIODIC_FREQ
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#warning No battery voltage measurement available! Please add <load name="bat_voltage_ardrone2.xml"/> to your modules section in aircraft file.
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#endif
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#include "peripherals/video_device.h"
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struct video_config_t front_camera = {
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.w = 1280,
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.h = 720,
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.dev_name = "/dev/video1",
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.subdev_name = NULL,
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.format = V4L2_PIX_FMT_UYVY,
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.buf_cnt = 10,
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.filters = 0
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};
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struct video_config_t bottom_camera = {
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.w = 320,
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.h = 240,
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.dev_name = "/dev/video2",
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.subdev_name = NULL,
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.format = V4L2_PIX_FMT_UYVY,
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.buf_cnt = 10,
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.filters = 0
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};
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int KillGracefully(char *process_name);
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int KillGracefully(char *process_name)
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{
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/* "pidof" always in /bin on ARdrone2, no need for "which" */
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char pidof_commandline[200] = "/bin/pidof -s ";
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strcat(pidof_commandline, process_name);
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/* ARDrone2 Busybox a
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$ cat /proc/sys/kernel/pid_max
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Gives max 32768, makes sure it never kills existing other process
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*/
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char pid[7] = "";
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int ret = 0; /* Return code of kill system call */
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FILE *fp;
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while (ret == 0) {
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fp = popen(pidof_commandline, "r");
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if (fp != NULL) { /* Could open the pidof with line */
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if (fgets(pid, sizeof(pid) - 1, fp) != NULL) {
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printf("Process ID deducted: \"%s\"\n", pid);
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if (atoi(pid) > 0) { /* To make sure we end 0 > There is a real process id found */
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char kill_command_and_process[200] = "kill -9 "; /* BTW there is no pkill on this Busybox */
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strcat(kill_command_and_process, pid);
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ret = system(kill_command_and_process);
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/* No need to wait, since if it is not closed the next pidof scan still will still find it and try to kill it */
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}
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} else {
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ret = 256; /* Could not get handle */
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pclose(fp);
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}
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} else {
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ret = 256; /* fp NULL, so no process, just return */
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return 0;
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}
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} /* end while */
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return 0;
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}
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void board_init(void)
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{
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/* Two process to kill, the respawner first to make sure program.elf does not get restarted */
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int ret = system("killall -15 program.elf.respawner.sh");
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usleep(50000); /* Give respawner 50ms time to end on a busy system */
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KillGracefully("program.elf");
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(void) ret;
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}
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