#ifndef __AP_HAL_MAIN_H__ #define __AP_HAL_MAIN_H__ #include "HAL.h" #if 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); \ int AP_MAIN(void) { \ AP_HAL::HAL::FunCallbacks callbacks(setup, loop); \ hal.run(0, NULL, &callbacks); \ return 0; \ } \ } #define AP_HAL_MAIN_CALLBACKS(CALLBACKS) extern "C" { \ int AP_MAIN(void); \ int AP_MAIN(void) { \ hal.run(0, NULL, CALLBACKS); \ return 0; \ } \ } #else #define AP_HAL_MAIN() extern "C" { \ int AP_MAIN(int argc, char* const argv[]); \ int AP_MAIN(int argc, char* const argv[]) { \ AP_HAL::HAL::FunCallbacks callbacks(setup, loop); \ hal.run(argc, argv, &callbacks); \ return 0; \ } \ } #define AP_HAL_MAIN_CALLBACKS(CALLBACKS) extern "C" { \ int AP_MAIN(int argc, char* const argv[]); \ int AP_MAIN(int argc, char* const argv[]) { \ hal.run(argc, argv, CALLBACKS); \ return 0; \ } \ } #endif #endif // __AP_HAL_MAIN_H__