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https://github.com/nasa/fprime.git
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640cf44c80
* Task refactor WIP -- compiles, but does not link * Adding isCooperative method - WIP * more WIP * Initial Os::Posix::Task implementaion * Adding makeDelegate functions; Fixing existing UTs * Touching up comments * Fixing Linux issues * Adding type_traits import * Removing TaskId and reworking handle storage * Do not need to assert that a reference is not nullptr; compiler will get angry * Starting UT development * Start test works * Working start and join rules; random test * Adding state, delay, and count tests * Adding stub interface tests * sp * Registry tests * Fixing UTs * Fixing PTHREAD_MIN_STACK for linux * Missing newlines * Fixing GPIO driver's task * More build fixes * Fixes for CI * Correcting errors in GNU only code * Fixing review comments * Fixing sp * Fixing RPI (again) * Removing divergent open rules from interface testing. Fixes #2733 * Fixing review comments --------- Co-authored-by: Kevin F. Ortega <kevin.f.ortega@jpl.nasa.gov>
96 lines
3.1 KiB
C++
96 lines
3.1 KiB
C++
// ======================================================================
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// \title Main.cpp
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// \author mstarch
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// \brief main program for reference application. Intended for CLI-based systems (Linux, macOS)
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//
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// \copyright
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// Copyright 2009-2022, by the California Institute of Technology.
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// ALL RIGHTS RESERVED. United States Government Sponsorship
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// acknowledged.
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// ======================================================================
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// Used to access topology functions
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#include <Ref/Top/RefTopology.hpp>
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// Used for signal handling shutdown
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#include <signal.h>
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// Used for command line argument processing
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#include <getopt.h>
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// Used for printf functions
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#include <cstdlib>
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/**
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* \brief print commandline help message
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*
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* This will print a command line help message including the available command line arguments.
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*
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* @param app: name of application
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*/
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void print_usage(const char* app) {
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(void)printf("Usage: ./%s [options]\n-a\thostname/IP address\n-p\tport_number\n", app);
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}
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/**
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* \brief shutdown topology cycling on signal
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*
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* The reference topology allows for a simulated cycling of the rate groups. This simulated cycling needs to be stopped
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* in order for the program to shutdown. This is done via handling signals such that it is performed via Ctrl-C
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*
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* @param signum
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*/
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static void signalHandler(int signum) {
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Ref::stopSimulatedCycle();
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}
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/**
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* \brief execute the program
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*
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* This F´ program is designed to run in standard environments (e.g. Linux/macOs running on a laptop). Thus it uses
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* command line inputs to specify how to connect.
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*
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* @param argc: argument count supplied to program
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* @param argv: argument values supplied to program
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* @return: 0 on success, something else on failure
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*/
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int main(int argc, char* argv[]) {
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U32 port_number = 0;
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I32 option = 0;
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char* hostname = nullptr;
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// Loop while reading the getopt supplied options
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while ((option = getopt(argc, argv, "hp:a:")) != -1) {
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switch (option) {
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// Handle the -a argument for address/hostname
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case 'a':
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hostname = optarg;
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break;
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// Handle the -p port number argument
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case 'p':
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port_number = static_cast<U32>(atoi(optarg));
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break;
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// Cascade intended: help output
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case 'h':
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// Cascade intended: help output
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case '?':
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// Default case: output help and exit
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default:
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print_usage(argv[0]);
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return (option == 'h') ? 0 : 1;
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}
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}
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// Object for communicating state to the reference topology
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Ref::TopologyState inputs;
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inputs.hostname = hostname;
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inputs.port = port_number;
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// Setup program shutdown via Ctrl-C
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signal(SIGINT, signalHandler);
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signal(SIGTERM, signalHandler);
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(void)printf("Hit Ctrl-C to quit\n");
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// Setup, cycle, and teardown topology
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Ref::setupTopology(inputs);
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Ref::startSimulatedCycle(Fw::Time(1, 0)); // Program loop cycling rate groups at 1Hz
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Ref::teardownTopology(inputs);
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(void)printf("Exiting...\n");
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return 0;
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}
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