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();
}
