98 lines
3.5 KiB
C++
98 lines
3.5 KiB
C++
/****************************************************************************
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* examples/uavcan/uavcan_main.cxx
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*
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* Copyright (C) 2015 Omni Hoverboards Inc. All rights reserved.
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* Author: Paul Alexander Patience <paul-a.patience@polymtl.ca>
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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 NuttX 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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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <cstdio>
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#include <cstdlib>
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#include "platform/cxxinitialize.h"
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#include <uavcan/uavcan.hpp>
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/****************************************************************************
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* Public Function Prototypes
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****************************************************************************/
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extern uavcan::ICanDriver &getCanDriver(void);
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extern uavcan::ISystemClock &getSystemClock(void);
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: uavcan_main
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****************************************************************************/
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#ifdef CONFIG_BUILD_KERNEL
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int main(int argc, FAR char *argv[])
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#else
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extern "C" int uavcan_main(int argc, FAR char *argv[])
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#endif
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{
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up_cxxinitialize();
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static uavcan::Node<CONFIG_EXAMPLES_UAVCAN_NODE_MEM_POOL_SIZE>
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node(getCanDriver(), getSystemClock());
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node.setNodeID(CONFIG_EXAMPLES_UAVCAN_NODE_ID);
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node.setName(CONFIG_EXAMPLES_UAVCAN_NODE_NAME);
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int ret = node.start();
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if (ret < 0)
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{
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std::fprintf(stderr, "ERROR: node.start failed: %d\n", ret);
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return EXIT_FAILURE;
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}
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node.setModeOperational();
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for (;;)
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{
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ret = node.spin(uavcan::MonotonicDuration::fromMSec(100));
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if (ret < 0)
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{
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std::fprintf(stderr, "ERROR: node.spin failed: %d\n", ret);
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}
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}
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return EXIT_SUCCESS;
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}
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