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AP_HAL_Linux: fixed AP_MODULE_SUPPORTED on static build

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chobits 2018-02-26 15:56:23 +08:00 committed by Andrew Tridgell
parent ea1a6b2044
commit 15b8ae99fe
1 changed files with 12 additions and 0 deletions
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12
libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
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@ -274,14 +274,18 @@ void _usage(void)
printf("\tcustom terrain path:\n"); printf("\tcustom terrain path:\n");
printf("\t --terrain-directory /var/APM/terrain\n"); printf("\t --terrain-directory /var/APM/terrain\n");
printf("\t -t /var/APM/terrain\n"); printf("\t -t /var/APM/terrain\n");
#if AP_MODULE_SUPPORTED
printf("\tmodule support:\n"); printf("\tmodule support:\n");
printf("\t --module-directory %s\n", AP_MODULE_DEFAULT_DIRECTORY); printf("\t --module-directory %s\n", AP_MODULE_DEFAULT_DIRECTORY);
printf("\t -M %s\n", AP_MODULE_DEFAULT_DIRECTORY); printf("\t -M %s\n", AP_MODULE_DEFAULT_DIRECTORY);
#endif
} }
void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
{ {
#if AP_MODULE_SUPPORTED
const char *module_path = AP_MODULE_DEFAULT_DIRECTORY; const char *module_path = AP_MODULE_DEFAULT_DIRECTORY;
#endif
assert(callbacks); assert(callbacks);
@ -344,9 +348,11 @@ void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
case 't': case 't':
utilInstance.set_custom_terrain_directory(gopt.optarg); utilInstance.set_custom_terrain_directory(gopt.optarg);
break; break;
#if AP_MODULE_SUPPORTED
case 'M': case 'M':
module_path = gopt.optarg; module_path = gopt.optarg;
break; break;
#endif
case 'h': case 'h':
_usage(); _usage();
exit(0); exit(0);
@ -374,13 +380,19 @@ void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
scheduler->system_initialized(); scheduler->system_initialized();
// possibly load external modules // possibly load external modules
#if AP_MODULE_SUPPORTED
if (module_path != nullptr) { if (module_path != nullptr) {
AP_Module::init(module_path); AP_Module::init(module_path);
} }
#endif
#if AP_MODULE_SUPPORTED
AP_Module::call_hook_setup_start(); AP_Module::call_hook_setup_start();
#endif
callbacks->setup(); callbacks->setup();
#if AP_MODULE_SUPPORTED
AP_Module::call_hook_setup_complete(); AP_Module::call_hook_setup_complete();
#endif
while (!_should_exit) { while (!_should_exit) {
callbacks->loop(); callbacks->loop();