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HAL_Linux: added AP_Module support

This commit is contained in:
Andrew Tridgell 2016-07-07 18:27:07 +10:00
parent 15a01eefb1
commit 107f76828d
1 changed files with 25 additions and 5 deletions
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30
libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
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@ -10,6 +10,7 @@
#include "AP_HAL_Linux_Private.h"
#include "HAL_Linux_Class.h"
#include <AP_Module/AP_Module.h>
using namespace Linux;
@ -228,23 +229,30 @@ void _usage(void)
{
printf("Usage: -A uartAPath -B uartBPath -C uartCPath -D uartDPath -E uartEPath -F uartFPath\n");
printf("Options:\n");
printf("\t-serial: -A /dev/ttyO4\n");
printf("\tserial:\n");
printf(" -A /dev/ttyO4\n");
printf("\t -B /dev/ttyS1\n");
printf("\t-tcp: -C tcp:192.168.2.15:1243:wait\n");
printf("\tnetworking tcp:\n");
printf("\t -C tcp:192.168.2.15:1243:wait\n");
printf("\t -A tcp:11.0.0.2:5678\n");
printf("\t -A udp:11.0.0.2:14550\n");
printf("\tnetworking UDP:\n");
printf("\t -A udp:11.0.0.255:14550:bcast\n");
printf("\t -A udpin:0.0.0.0:14550\n");
printf("\t-custom log path:\n");
printf("\tcustom log path:\n");
printf("\t --log-directory /var/APM/logs\n");
printf("\t -l /var/APM/logs\n");
printf("\t-custom terrain path:\n");
printf("\tcustom terrain path:\n");
printf("\t --terrain-directory /var/APM/terrain\n");
printf("\t -t /var/APM/terrain\n");
printf("\tmodule support:\n");
printf("\t --module-directory /etc/APM/modules\n");
}
void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
{
const char *module_path = nullptr;
assert(callbacks);
int opt;
@ -261,11 +269,12 @@ void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
#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:S",
GetOptLong gopt(argc, argv, "A:B:C:D:E:F:l:t:he:SM:",
options);
/*
@ -305,6 +314,9 @@ void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
case 't':
utilInstance.set_custom_terrain_directory(gopt.optarg);
break;
case 'M':
module_path = gopt.optarg;
break;
case 'h':
_usage();
exit(0);
@ -336,7 +348,15 @@ void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
// 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();