px4::init_once();和px4::init(argc, argv, "px4");函数学习

px4::init_once();

1. void init_once()
2. {
3. _shell_task_id = pthread_self();                                                            //获取自生PID
4. //printf("[init] shell id: %lu\n", (unsigned long)_shell_task_id);
5. work_queues_init();                                                                         //工作队列初始化?   创建了一个高优先级和一个低优先级工作线程
6. hrt_work_queue_init();                                                                      //创建了一个最高优先级的工作队列？
7. hrt_init();                                                                                 //初始化了hrt信号量？
8. param_init();                                                                               //初始化了param_sem和reader_lock_holders_lock信号量
9. #ifdef CONFIG_SHMEM
10. PX4_DEBUG("Syncing params to shared memory\n");
11. init_params();
12. #endif
13. }

px4::init(argc, argv, "px4");

画了一个px4。

1. void init(int argc, char *argv[], const char *app_name)
2. {
3. printf("\n");
4. printf("______ __ __ ___ \n");
5. printf("| ___ \\ \\ \\ / / / |\n");
6. printf("| |_/ / \\ V / / /| |\n");
7. printf("| __/ / \\ / /_| |\n");
8. printf("| | / /^\\ \\ \\___ |\n");
9. printf("\\_| \\/ \\/ |_/\n");
10. printf("\n");
11. printf("%s starting.\n", app_name);
12. printf("\n");
13. // set the threads name
14. #ifdef __PX4_DARWIN
15. (void)pthread_setname_np(app_name);
16. #else
17. (void)pthread_setname_np(pthread_self(), app_name);
18. #endif
19. }