Exemple #1
0
void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
{
    assert(callbacks);

    int opt;
    const struct GetOptLong::option options[] = {
        {"uartA",         true,  0, 'A'},
        {"uartB",         true,  0, 'B'},
        {"uartC",         true,  0, 'C'},
        {"uartE",         true,  0, 'E'},
        {"log-directory",       true,  0, 'l'},
        {"terrain-directory",   true,  0, 't'},
        {"help",                false,  0, 'h'},
        {0, false, 0, 0}
    };

    GetOptLong gopt(argc, argv, "A:B:C:E:l:t:h",
                    options);

    /*
      parse command line options
     */
    while ((opt = gopt.getoption()) != -1) {
        switch (opt) {
        case 'A':
            uartADriver.set_device_path(gopt.optarg);
            break;
        case 'B':
            uartBDriver.set_device_path(gopt.optarg);
            break;
        case 'C':
            uartCDriver.set_device_path(gopt.optarg);
            break;
        case 'E':
            uartEDriver.set_device_path(gopt.optarg);
            break;
        case 'l':
            utilInstance.set_custom_log_directory(gopt.optarg);
            break;
        case 't':
            utilInstance.set_custom_terrain_directory(gopt.optarg);
            break;
        case 'h':
            _usage();
            exit(0);
        default:
            printf("Unknown option '%c'\n", (char)opt);
            exit(1);
        }
    }

    scheduler->init(NULL);
    gpio->init();
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
    i2c->begin();
    i2c1->begin();
    i2c2->begin();
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
    i2c->begin();
    i2c1->begin();
#else
    i2c->begin();
#endif
    spi->init(NULL);
    rcout->init(NULL);
    rcin->init(NULL);
    uartA->begin(115200);
    uartE->begin(115200);
    analogin->init(NULL);
    utilInstance.init(argc+gopt.optind-1, &argv[gopt.optind-1]);

    // NOTE: See commit 9f5b4ffca ("AP_HAL_Linux_Class: Correct
    // deadlock, and infinite loop in setup()") for details about the
    // order of scheduler initialize and setup on Linux.
    scheduler->system_initialized();
    callbacks->setup();

    for (;;) {
        callbacks->loop();
    }
}
void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
{
    const char *module_path = AP_MODULE_DEFAULT_DIRECTORY;
    
    assert(callbacks);

    int opt;
    const struct GetOptLong::option options[] = {
        {"uartA",         true,  0, 'A'},
        {"uartB",         true,  0, 'B'},
        {"uartC",         true,  0, 'C'},
        {"uartD",         true,  0, 'D'},
        {"uartE",         true,  0, 'E'},
        {"uartF",         true,  0, 'F'},
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
        {"dsm",           true,  0, 'S'},
        {"ESC",           true,  0, 'e'},
#endif
        {"log-directory",       true,  0, 'l'},
        {"terrain-directory",   true,  0, 't'},
        {"module-directory",    true,  0, 'M'},
        {"help",                false,  0, 'h'},
        {0, false, 0, 0}
    };

    GetOptLong gopt(argc, argv, "A:B:C:D:E:F:l:t:he:SM:",
                    options);

    /*
      parse command line options
     */
    while ((opt = gopt.getoption()) != -1) {
        switch (opt) {
        case 'A':
            uartADriver.set_device_path(gopt.optarg);
            break;
        case 'B':
            uartBDriver.set_device_path(gopt.optarg);
            break;
        case 'C':
            uartCDriver.set_device_path(gopt.optarg);
            break;
        case 'D':
            uartDDriver.set_device_path(gopt.optarg);
            break;
        case 'E':
            uartEDriver.set_device_path(gopt.optarg);
            break;
        case 'F':
            uartFDriver.set_device_path(gopt.optarg);
            break;
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
        case 'e':
            rcoutDriver.set_device_path(gopt.optarg);
            break;
        case 'S':
            rcinDriver.set_device_path(gopt.optarg);
            break;
#endif // CONFIG_HAL_BOARD_SUBTYPE
        case 'l':
            utilInstance.set_custom_log_directory(gopt.optarg);
            break;
        case 't':
            utilInstance.set_custom_terrain_directory(gopt.optarg);
            break;
        case 'M':
            module_path = gopt.optarg;
            break;
        case 'h':
            _usage();
            exit(0);
        default:
            printf("Unknown option '%c'\n", (char)opt);
            exit(1);
        }
    }

    scheduler->init();
    gpio->init();
    rcout->init();
    rcin->init();
    uartA->begin(115200);
    uartE->begin(115200);
    uartF->begin(115200);
    analogin->init();
    utilInstance.init(argc+gopt.optind-1, &argv[gopt.optind-1]);

    // NOTE: See commit 9f5b4ffca ("AP_HAL_Linux_Class: Correct
    // deadlock, and infinite loop in setup()") for details about the
    // order of scheduler initialize and setup on Linux.
    scheduler->system_initialized();

    // possibly load external modules
    if (module_path != nullptr) {
        AP_Module::init(module_path);
    }

    AP_Module::call_hook_setup_start();
    callbacks->setup();
    AP_Module::call_hook_setup_complete();

    for (;;) {
        callbacks->loop();
    }
}
void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
{
#if AP_MODULE_SUPPORTED
    const char *module_path = AP_MODULE_DEFAULT_DIRECTORY;
#endif
    
    assert(callbacks);

    int opt;
    const struct GetOptLong::option options[] = {
        {"uartA",         true,  0, 'A'},
        {"uartB",         true,  0, 'B'},
        {"uartC",         true,  0, 'C'},
        {"uartD",         true,  0, 'D'},
        {"uartE",         true,  0, 'E'},
        {"uartF",         true,  0, 'F'},
        {"log-directory",       true,  0, 'l'},
        {"terrain-directory",   true,  0, 't'},
        {"storage-directory",   true,  0, 's'},
        {"module-directory",    true,  0, 'M'},
        {"help",                false,  0, 'h'},
        {0, false, 0, 0}
    };

    GetOptLong gopt(argc, argv, "A:B:C:D:E:F:l:t:s:he:SM:",
                    options);

    /*
      parse command line options
     */
    while ((opt = gopt.getoption()) != -1) {
        switch (opt) {
        case 'A':
            uartADriver.set_device_path(gopt.optarg);
            break;
        case 'B':
            uartBDriver.set_device_path(gopt.optarg);
            break;
        case 'C':
            uartCDriver.set_device_path(gopt.optarg);
            break;
        case 'D':
            uartDDriver.set_device_path(gopt.optarg);
            break;
        case 'E':
            uartEDriver.set_device_path(gopt.optarg);
            break;
        case 'F':
            uartFDriver.set_device_path(gopt.optarg);
            break;
        case 'l':
            utilInstance.set_custom_log_directory(gopt.optarg);
            break;
        case 't':
            utilInstance.set_custom_terrain_directory(gopt.optarg);
            break;
        case 's':
            utilInstance.set_custom_storage_directory(gopt.optarg);
            break;
#if AP_MODULE_SUPPORTED
        case 'M':
            module_path = gopt.optarg;
            break;
#endif
        case 'h':
            _usage();
            exit(0);
        default:
            printf("Unknown option '%c'\n", (char)opt);
            exit(1);
        }
    }

    setup_signal_handlers();

    scheduler->init();
    gpio->init();
    rcout->init();
    rcin->init();
    uartA->begin(115200);
    uartE->begin(115200);
    uartF->begin(115200);
    analogin->init();
    utilInstance.init(argc+gopt.optind-1, &argv[gopt.optind-1]);

    // NOTE: See commit 9f5b4ffca ("AP_HAL_Linux_Class: Correct
    // deadlock, and infinite loop in setup()") for details about the
    // order of scheduler initialize and setup on Linux.
    scheduler->system_initialized();

    // possibly load external modules
#if AP_MODULE_SUPPORTED
    if (module_path != nullptr) {
        AP_Module::init(module_path);
    }
#endif

#if AP_MODULE_SUPPORTED
    AP_Module::call_hook_setup_start();
#endif
    callbacks->setup();
#if AP_MODULE_SUPPORTED
    AP_Module::call_hook_setup_complete();
#endif

    while (!_should_exit) {
        callbacks->loop();
    }

    rcin->teardown();
    I2CDeviceManager::from(i2c_mgr)->teardown();
    SPIDeviceManager::from(spi)->teardown();
    Scheduler::from(scheduler)->teardown();
}