AP_HAL: provide AP_HAL_MAIN()

Move the macros to a single place and reduce the variations not based on
board, but based on

- The name of the entry-point function, specified by AP_MAIN;
- Whether it contains argc/argv arguments or not.

The goal here is that programs (vehicles and examples) don't need to
include all possible boards to define a main function. Further patches
will change the programs.

libraries/AP_HAL/AP_HAL.h

@@ -8,6 +8,7 @@
 #include "AP_HAL_Namespace.h"
 #include "AP_HAL_Boards.h"
 #include "AP_HAL_Macros.h"
+#include "AP_HAL_Main.h"
 
 /* HAL Module Classes (all pure virtual) */
 #include "UARTDriver.h"

libraries/AP_HAL/AP_HAL_Main.h

@@ -0,0 +1,40 @@
+#ifndef __AP_HAL_MAIN_H__
+#define __AP_HAL_MAIN_H__
+
+#include "HAL.h"
+
+#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
+#define CONFIG_MAIN_WITHOUT_ARGC_ARGV 1
+#endif
+
+#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
+#define AP_MAIN __EXPORT ArduPilot_main
+#endif
+
+#ifndef AP_MAIN
+#define AP_MAIN main
+#endif
+
+#if CONFIG_MAIN_WITHOUT_ARGC_ARGV
+
+#define AP_HAL_MAIN() extern "C" { \
+    int AP_MAIN(void) { \
+        AP_HAL::HAL::FunCallbacks callbacks(setup, loop); \
+        hal.run(0, NULL, &callbacks); \
+        return 0; \
+    } \
+    }
+
+#else
+
+#define AP_HAL_MAIN() extern "C" { \
+    int AP_MAIN(int argc, char* const argv[]) { \
+        AP_HAL::HAL::FunCallbacks callbacks(setup, loop); \
+        hal.run(argc, argv, &callbacks); \
+        return 0; \
+    } \
+    }
+
+#endif
+
+#endif // __AP_HAL_MAIN_H__

libraries/AP_HAL_AVR/AP_HAL_AVR.h

@@ -13,7 +13,6 @@
 
 #include "HAL_AVR_APM1_Class.h"
 #include "HAL_AVR_APM2_Class.h"
-#include "AP_HAL_AVR_Main.h"
 
 #endif // CONFIG_HAL_BOARD
 

libraries/AP_HAL_AVR/AP_HAL_AVR_Main.h

@@ -1,15 +0,0 @@
-
-#ifndef __AP_HAL_AVR_MAIN_H__
-#define __AP_HAL_AVR_MAIN_H__
-
-#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2
-#define AP_HAL_MAIN() extern "C" {\
-    int main (void) {\
-        AP_HAL::HAL::FunCallbacks callbacks(setup, loop); \
-        hal.run(0, NULL, &callbacks); \
-        return 0; \
-    }\
-    }
-#endif
-
-#endif // __AP_HAL_AVR_MAIN_H__

libraries/AP_HAL_Empty/AP_HAL_Empty.h

@@ -18,17 +18,9 @@
  * All declaration and compilation should be guarded by CONFIG_HAL_BOARD macros.
  * In this case, we're using CONFIG_HAL_BOARD == HAL_BOARD_EMPTY.
  * When creating a new HAL, declare a new HAL_BOARD_ in AP_HAL/AP_HAL_Boards.h
- *
- * The module should also export an appropriate AP_HAL_MAIN() macro iff the
- * appropriate CONFIG_HAL_BOARD value is set.
- * The AP_HAL_MAIN macro expands to a main function (either an `int main (void)`
- * or `int main (int argc, const char * argv[]), depending on platform) of an
- * ArduPilot application, whose entry points are the c++ functions
- * `void setup()` and `void loop()`, ala Arduino.
  */
 
 #include "HAL_Empty_Class.h"
-#include "AP_HAL_Empty_Main.h"
 
 #endif //__AP_HAL_EMPTY_H__
 

libraries/AP_HAL_Empty/AP_HAL_Empty_Main.h

@@ -1,16 +0,0 @@
-
-
-#ifndef __AP_HAL_EMPTY_MAIN_H__
-#define __AP_HAL_EMPTY_MAIN_H__
-
-#if CONFIG_HAL_BOARD == HAL_BOARD_EMPTY
-#define AP_HAL_MAIN() extern "C" {\
-    int main (void) {\
-        AP_HAL::HAL::FunCallbacks callbacks(setup, loop); \
-        hal.run(0, NULL, &callbacks); \
-        return 0; \
-    }\
-    }
-#endif // HAL_BOARD_EMPTY
-
-#endif // __AP_HAL_EMPTY_MAIN_H__

libraries/AP_HAL_FLYMAPLE/AP_HAL_FLYMAPLE.h

@@ -47,7 +47,6 @@
 #if CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
 
 #include "HAL_FLYMAPLE_Class.h"
-#include "AP_HAL_FLYMAPLE_Main.h"
 
 #endif // CONFIG_HAL_BOARD
 

libraries/AP_HAL_FLYMAPLE/AP_HAL_FLYMAPLE_Main.h

@@ -1,33 +0,0 @@
-/*
-   This program is free software: you can redistribute it and/or modify
-   it under the terms of the GNU General Public License as published by
-   the Free Software Foundation, either version 3 of the License, or
-   (at your option) any later version.
-
-   This program is distributed in the hope that it will be useful,
-   but WITHOUT ANY WARRANTY; without even the implied warranty of
-   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-   GNU General Public License for more details.
-
-   You should have received a copy of the GNU General Public License
-   along with this program.  If not, see <http://www.gnu.org/licenses/>.
- */
-/*
-  Flymaple port by Mike McCauley
- */
-
-
-#ifndef __AP_HAL_FLYMAPLE_MAIN_H__
-#define __AP_HAL_FLYMAPLE_MAIN_H__
-
-#if CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
-#define AP_HAL_MAIN() extern "C" {\
-    int main (void) {\
-        AP_HAL::HAL::FunCallbacks callbacks(setup, loop); \
-        hal.run(0, NULL, &callbacks); \
-        return 0; \
-    }\
-    }
-#endif // HAL_BOARD_FLYMAPLE
-
-#endif // __AP_HAL_FLYMAPLE_MAIN_H__

libraries/AP_HAL_Linux/AP_HAL_Linux.h

@@ -18,19 +18,11 @@
  * All declaration and compilation should be guarded by CONFIG_HAL_BOARD macros.
  * In this case, we're using CONFIG_HAL_BOARD == HAL_BOARD_LINUX.
  * When creating a new HAL, declare a new HAL_BOARD_ in AP_HAL/AP_HAL_Boards.h
- *
- * The module should also export an appropriate AP_HAL_MAIN() macro iff the
- * appropriate CONFIG_HAL_BOARD value is set.
- * The AP_HAL_MAIN macro expands to a main function (either an `int main (void)`
- * or `int main (int argc, const char * argv[]), depending on platform) of an
- * ArduPilot application, whose entry points are the c++ functions
- * `void setup()` and `void loop()`, ala Arduino.
  */
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
 
 #include "HAL_Linux_Class.h"
-#include "AP_HAL_Linux_Main.h"
 
 #endif // CONFIG_HAL_BOARD
 #endif //__AP_HAL_LINUX_H__

libraries/AP_HAL_Linux/AP_HAL_Linux_Main.h

@@ -1,16 +0,0 @@
-
-
-#ifndef __AP_HAL_LINUX_MAIN_H__
-#define __AP_HAL_LINUX_MAIN_H__
-
-#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
-#define AP_HAL_MAIN() extern "C" {\
-int main (int argc, char * const argv[]) {        \
-        AP_HAL::HAL::FunCallbacks callbacks(setup, loop); \
-        hal.run(argc, argv, &callbacks); \
-        return 0; \
-    }\
-    }
-#endif // HAL_BOARD_LINUX
-
-#endif // __AP_HAL_LINUX_MAIN_H__

libraries/AP_HAL_PX4/AP_HAL_PX4.h

@@ -6,7 +6,6 @@
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4
 #include "HAL_PX4_Class.h"
-#include "AP_HAL_PX4_Main.h"
 
 #endif // CONFIG_HAL_BOARD
 #endif // __AP_HAL_PX4_H__

libraries/AP_HAL_PX4/AP_HAL_PX4_Main.h

@@ -1,15 +0,0 @@
-#ifndef __AP_HAL_PX4_MAIN_H__
-#define __AP_HAL_PX4_MAIN_H__
-
-#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
-
-#define AP_HAL_MAIN() \
-    extern "C" __EXPORT int SKETCH_MAIN(int argc, char * const argv[]); \
-    int SKETCH_MAIN(int argc, char * const argv[]) {	\
-        AP_HAL::HAL::FunCallbacks callbacks(setup, loop); \
-        hal.run(argc, argv, &callbacks); \
-	return OK; \
-    }
-
-#endif
-#endif // __AP_HAL_PX4_MAIN_H__

libraries/AP_HAL_SITL/AP_HAL_SITL.h

@@ -7,7 +7,6 @@
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
 
 #include "HAL_SITL_Class.h"
-#include "AP_HAL_SITL_Main.h"
 
 #endif // CONFIG_HAL_BOARD
 

libraries/AP_HAL_SITL/AP_HAL_SITL_Main.h

@@ -1,15 +0,0 @@
-
-#ifndef __AP_HAL_SITL_MAIN_H__
-#define __AP_HAL_SITL_MAIN_H__
-
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
-#define AP_HAL_MAIN() extern "C" {\
-    int main (int argc, char * const argv[]) { \
-        AP_HAL::HAL::FunCallbacks callbacks(setup, loop); \
-        hal.run(argc, argv, &callbacks); \
-        return 0; \
-    }\
-    }
-#endif
-
-#endif // __AP_HAL_SITL_MAIN_H__

libraries/AP_HAL_VRBRAIN/AP_HAL_VRBRAIN.h

@@ -6,7 +6,6 @@
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
 #include "HAL_VRBRAIN_Class.h"
-#include "AP_HAL_VRBRAIN_Main.h"
 
 #endif // CONFIG_HAL_BOARD
 #endif // __AP_HAL_VRBRAIN_H__

libraries/AP_HAL_VRBRAIN/AP_HAL_VRBRAIN_Main.h

@@ -1,15 +0,0 @@
-#ifndef __AP_HAL_VRBRAIN_MAIN_H__
-#define __AP_HAL_VRBRAIN_MAIN_H__
-
-#if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
-
-#define AP_HAL_MAIN() \
-    extern "C" __EXPORT int SKETCH_MAIN(int argc, char * const argv[]); \
-    int SKETCH_MAIN(int argc, char * const argv[]) {	\
-        AP_HAL::HAL::FunCallbacks callbacks(setup, loop); \
-        hal.run(argc, argv, &callbacks); \
-	return OK; \
-    }
-
-#endif
-#endif // __AP_HAL_VRBRAIN_MAIN_H__