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

px4::init_once();

			void init_once()
			{
			    _shell_task_id = pthread_self();                                                            //获取自生PID
			    //printf("[init] shell id: %lu
", (unsigned long)_shell_task_id);
			    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
			    hrt_work_queue_init();                                                                      //创建了一个最高优先级的工作队列？
			    hrt_init();                                                                                 //初始化了hrt信号量？
			    param_init();                                                                               //初始化了param_sem和reader_lock_holders_lock信号量

			#ifdef CONFIG_SHMEM
			    PX4_DEBUG("Syncing params to shared memory
");
			    init_params();
			#endif
			}

px4::init(argc, argv, "px4");
画了一个px4。

			void init(int argc, char *argv[], const char *app_name)
			{
			    printf("
");
			    printf("______  __   __    ___ 
");
			    printf("| ___ \ \ \ / /   /   |
");
			    printf("| |_/ /  \ V /   / /| |
");
			    printf("|  __/   /   \  / /_| |
");
			    printf("| |     / /^\ \ \___  |
");
			    printf("\_|     \/   \/     |_/
");
			    printf("
");
			    printf("%s starting.
", app_name);
			    printf("
");

			    // set the threads name
			#ifdef __PX4_DARWIN
			    (void)pthread_setname_np(app_name);
			#else
			    (void)pthread_setname_np(pthread_self(), app_name);
			#endif
			}