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. 
   
10. #ifdef CONFIG_SHMEM
    
11.     PX4_DEBUG("Syncing params to shared memory\n");
    
12.     init_params();
    
13. #endif
    
14. }

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. 
    
14.     // set the threads name
    
15. #ifdef __PX4_DARWIN
    
16.     (void)pthread_setname_np(app_name);
    
17. #else
    
18.     (void)pthread_setname_np(pthread_self(), app_name);
    
19. #endif
    
20. }

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