text: /****************************************************************************
   *
   *   Copyright (C) 2015 Mark Charlebois. 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 wqueue_start_posix.cpp
   *
   * @author Thomas Gubler <thomasgubler@gmail.com>
   * @author Mark Charlebois <mcharleb@gmail.com>
   */
  #include "wqueue_test.h"
  #include <px4_app.h>
  #include <px4_log.h>
  #include <px4_tasks.h>
  #include <stdio.h>
  #include <string.h>
  #include <sched.h>
  
  static int daemon_task;             /* Handle of deamon task / thread */
  
  //using namespace px4;
  
  extern "C" __EXPORT int wqueue_test_main(int argc, char *argv[]);
  int wqueue_test_main(int argc, char *argv[])
  {
  
  	if (argc < 2) {
  		PX4_INFO("usage: wqueue_test {start|stop|status}\n");
  		return 1;
  	}
  
  	if (!strcmp(argv[1], "start")) {
  
  		if (WQueueTest::appState.isRunning()) {
  			PX4_INFO("already running\n");
  			/* this is not an error */
  			return 0;
  		}
  
  		daemon_task = px4_task_spawn_cmd("wqueue",
  						 SCHED_DEFAULT,
  						 SCHED_PRIORITY_MAX - 5,
  						 2000,
  						 PX4_MAIN,
  						 (argv) ? (char *const *)&argv[2] : (char *const *)NULL);
  
  		return 0;
  	}
  
  	if (!strcmp(argv[1], "stop")) {
  		WQueueTest::appState.requestExit();
  		return 0;
  	}
  
  	if (!strcmp(argv[1], "status")) {
  		if (WQueueTest::appState.isRunning()) {
  			PX4_INFO("is running\n");
  
  		} else {
  			PX4_INFO("not started\n");
  		}
  
  		return 0;
  	}
  
  	PX4_INFO("usage: wqueue_test {start|stop|status}\n");
  	return 1;
  }
  