AP_HAL: expose argc/argv in hal.init()

used for SITL port

libraries/AP_HAL/HAL.h

@@ -42,7 +42,7 @@ public:
         scheduler(_scheduler)
     {}
 
-    virtual void init(void* opts) const = 0;
+    virtual void init(int argc, const char *argv[]) const = 0;
 
     AP_HAL::UARTDriver* uartA;
     AP_HAL::UARTDriver* uartB;

libraries/AP_HAL_AVR/AP_HAL_AVR.h

@@ -13,15 +13,16 @@
  * and not expose implementation details.
  */
 
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2
 #define AP_HAL_MAIN() extern "C" {\
     int main (void) {\
-        hal.init(NULL);\
+	hal.init(0, NULL);			\
         setup();\
         for(;;) loop();\
         return 0;\
     }\
     }
-
+#endif
 
 #endif // __AP_HAL_AVR_H__
 

libraries/AP_HAL_AVR/HAL_AVR.cpp

@@ -2,7 +2,7 @@
 #include "HAL_AVR.h"
 using namespace AP_HAL_AVR;
 
-void HAL_AVR::init(void* opts) const {
+void HAL_AVR::init(int argc, const char *argv[]) const {
 
     scheduler->init((void*)&isr_registry);
    

libraries/AP_HAL_AVR/HAL_AVR.h

@@ -31,7 +31,7 @@ public:
                         _console, _gpio, _rcin,
                         _rcout, _scheduler) {}
 
-    void init(void* opts) const;
+    void init(int argc, const char *argv[]) const;
     AP_HAL_AVR::ISRRegistry isr_registry;
 };
 #endif // __AP_HAL_AVR_HAL_AVR_H__

libraries/AP_HAL_AVR/HAL_AVR_APM1_Class.cpp

@@ -50,7 +50,7 @@ HAL_AVR_APM1::HAL_AVR_APM1() :
         &avrScheduler )
 {}
 
-void HAL_AVR_APM1::init(void* opts) const {
+void HAL_AVR_APM1::init(int argc, const char *argv[]) const {
 
     scheduler->init((void*)&isrRegistry);
    

libraries/AP_HAL_AVR/HAL_AVR_APM1_Class.h

@@ -20,7 +20,7 @@
 class HAL_AVR_APM1 : public AP_HAL::HAL {
 public:
     HAL_AVR_APM1();
-    void init(void* opts) const;
+    void init(int argc, const char *argv[]) const;
 };
 
 /**

libraries/AP_HAL_AVR/HAL_AVR_APM2_Class.cpp

@@ -49,7 +49,7 @@ HAL_AVR_APM2::HAL_AVR_APM2() :
         &avrScheduler )
 {}
 
-void HAL_AVR_APM2::init(void* opts) const {
+void HAL_AVR_APM2::init(int argc, const char *argv[]) const {
 
     scheduler->init((void*)&isrRegistry);
    

libraries/AP_HAL_AVR/HAL_AVR_APM2_Class.h

@@ -20,7 +20,7 @@
 class HAL_AVR_APM2 : public AP_HAL::HAL {
 public:
     HAL_AVR_APM2();
-    void init(void* opts) const;
+    void init(int argc, const char *argv[]) const;
 };
 
 /**

libraries/AP_HAL_AVR_SITL/AP_HAL_AVR_SITL.h

@@ -5,5 +5,16 @@
 #include "AP_HAL_AVR_SITL_Namespace.h"
 #include "HAL_AVR_SITL_Class.h"
 
+#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
+#define AP_HAL_MAIN() extern "C" {\
+    int main (int argc, const char *argv[]) {	\
+	hal.init(argc, argv);		\
+        setup();\
+        for(;;) loop();\
+        return 0;\
+    }\
+    }
+#endif
+
 #endif // __AP_HAL_AVR_SITL_H__
 

libraries/AP_HAL_AVR_SITL/HAL_AVR_SITL_Class.cpp

@@ -38,7 +38,7 @@ HAL_AVR_SITL::HAL_AVR_SITL() :
         &sitlScheduler) /* scheduler */
 {}
 
-void HAL_AVR_SITL::init(void* machtnichts) const {
+void HAL_AVR_SITL::init(int argc, const char *argv[]) const {
 
     scheduler->init(NULL);
     uartA->begin(115200);

libraries/AP_HAL_AVR_SITL/HAL_AVR_SITL_Class.h

@@ -12,7 +12,7 @@
 class HAL_AVR_SITL : public AP_HAL::HAL {
 public:
     HAL_AVR_SITL();    
-    void init(void*) const;
+    void init(int argc, const char *argv[]) const;
 };
 
 extern const HAL_AVR_SITL AP_HAL_AVR_SITL;