void HAL_Linux::init(int argc,char* const argv[]) const
{
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();
i2c->begin();
rcout->init(NULL);
rcin->init(NULL);
uartA->begin(115200);
uartE->begin(115200);
spi->init(NULL);
analogin->init(NULL);
utilInstance.init(argc+gopt.optind, &argv[gopt.optind]);
}
void HAL_Linux::init(int argc,char* const argv[]) const
{
int opt;
/*
parse command line options
*/
while ((opt = getopt(argc, argv, "A:B:C:E:h")) != -1) {
switch (opt) {
case 'A':
uartADriver.set_device_path(optarg);
break;
case 'B':
uartBDriver.set_device_path(optarg);
break;
case 'C':
uartCDriver.set_device_path(optarg);
break;
case 'E':
uartEDriver.set_device_path(optarg);
break;
case 'h':
_usage();
exit(0);
default:
printf("Unknown option '%c'\n", (char)opt);
exit(1);
}
}
scheduler->init(NULL);
gpio->init();
i2c->begin();
rcout->init(NULL);
rcin->init(NULL);
uartA->begin(115200);
uartE->begin(115200);
spi->init(NULL);
analogin->init(NULL);
utilInstance.init(argc, argv);
}