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ardupilot/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
Oleksiy Protas 364e6f06f3 AP_HAL_Linux: delay signal handlers setup 
Allow default signals before full initialization in Linux, this makes sure we don't get an unkillable process if it hangs on initialization

Exit flag marked volatile to counteract possible compiler optimization due to the handler code running in a different context
2024-04-05 11:36:29 +11:00

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#include "HAL_Linux_Class.h"
#include <assert.h>
#include <signal.h>
#include <sched.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/utility/RCOutput_Tap.h>
#include <AP_HAL/utility/getopt_cpp.h>
#include <AP_HAL_Empty/AP_HAL_Empty.h>
#include <AP_HAL_Empty/AP_HAL_Empty_Private.h>
#include <AP_Module/AP_Module.h>
#include "AnalogIn_ADS1115.h"
#include "AnalogIn_IIO.h"
#include "AnalogIn_Navio2.h"
#include "GPIO.h"
#include "I2CDevice.h"
#include "OpticalFlow_Onboard.h"
#include "RCInput.h"
#include "RCInput_AioPRU.h"
#include "RCInput_Navio2.h"
#include "RCInput_PRU.h"
#include "RCInput_RPI.h"
#include "RCInput_SoloLink.h"
#include "RCInput_UART.h"
#include "RCInput_UDP.h"
#include "RCInput_Multi.h"
#include "RCInput_ZYNQ.h"
#include "RCInput_RCProtocol.h"
#include "RCOutput_AioPRU.h"
#include "RCOutput_Bebop.h"
#include "RCOutput_Disco.h"
#include "RCOutput_PCA9685.h"
#include "RCOutput_PRU.h"
#include "RCOutput_Sysfs.h"
#include "RCOutput_ZYNQ.h"
#include "SPIDevice.h"
#include "SPIUARTDriver.h"
#include "Scheduler.h"
#include "Storage.h"
#include "UARTDriver.h"
#include "Util.h"
#include "Util_RPI.h"
#include "CANSocketIface.h"
using namespace Linux;
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO
static UtilRPI utilInstance;
#else
static Util utilInstance;
#endif
// 10 serial ports on Linux
static UARTDriver serial0Driver(true);
static UARTDriver serial1Driver(false);
static UARTDriver serial2Driver(false);
// serial3Driver declared below depending on board type
static UARTDriver serial4Driver(false);
static UARTDriver serial5Driver(false);
static UARTDriver serial6Driver(false);
static UARTDriver serial7Driver(false);
static UARTDriver serial8Driver(false);
static UARTDriver serial9Driver(false);
static I2CDeviceManager i2c_mgr_instance;
static SPIDeviceManager spi_mgr_instance;
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
static SPIUARTDriver serial3Driver;
#else
static UARTDriver serial3Driver(false);
#endif
static UARTDriver* serialDrivers[] = {
&serial0Driver,
&serial1Driver,
&serial2Driver,
&serial3Driver,
&serial4Driver,
&serial5Driver,
&serial6Driver,
&serial7Driver,
&serial8Driver,
&serial9Driver,
};
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR|| \
((CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1) && (OBAL_ALLOW_ADC ==1)) || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO
static AnalogIn_ADS1115 analogIn;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET
static AnalogIn_IIO analogIn;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE
static AnalogIn_Navio2 analogIn;
#else
static Empty::AnalogIn analogIn;
#endif
static Storage storageDriver;
/*
use the BBB gpio driver on ERLE, PXF, BBBMINI, BLUE and PocketPilot
*/
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET
static GPIO_BBB gpioDriver;
/*
use the RPI gpio driver on Navio
*/
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO
static GPIO_RPI gpioDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR
static GPIO_Navigator gpioDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE
static GPIO_Sysfs gpioDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO
static GPIO_Sysfs gpioDriver;
#else
static Empty::GPIO gpioDriver;
#endif
/*
use the PRU based RCInput driver on ERLE and PXF
*/
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD
static RCInput_PRU rcinDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET
static RCInput_AioPRU rcinDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
static RCInput_Multi rcinDriver{2, new RCInput_AioPRU, new RCInput_RCProtocol(NULL, "/dev/ttyO4")};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO
static RCInput_RPI rcinDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ
static RCInput_ZYNQ rcinDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
static RCInput_UDP rcinDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
static RCInput_Multi rcinDriver{2, new RCInput_RCProtocol("/dev/uart-sbus", "/dev/uart-sumd"), new RCInput_UDP()};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO
static RCInput_SoloLink rcinDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE
static RCInput_Navio2 rcinDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ
static RCInput_RCProtocol rcinDriver{"/dev/ttyPS0", NULL};
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_VNAV || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR
// this is needed to allow for RC input using SERIALn_PROTOCOL=23. No fd is opened
// in the linux driver and instead user needs to provide a uart via SERIALn_PROTOCOL
static RCInput_RCProtocol rcinDriver{nullptr, nullptr};
#else
static RCInput rcinDriver;
#endif
/*
use the PRU based RCOutput driver on ERLE and PXF
*/
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD
static RCOutput_PRU rcoutDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET
static RCOutput_AioPRU rcoutDriver;
/*
use the PCA9685 based RCOutput driver on Navio and Erle-Brain 2
*/
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(1, PCA9685_PRIMARY_ADDRESS), 24576000, 3, RPI_GPIO_<27>());
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(1, PCA9685_PRIMARY_ADDRESS), 24576000, 3, NAVIO_GPIO_PCA_OE);
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(1, PCA9685_QUATENARY_ADDRESS), 0, 0, RPI_GPIO_<4>());
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK
static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(1, PCA9685_QUINARY_ADDRESS), 0, 0, RPI_GPIO_<27>());
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR
static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(4, PCA9685_PRIMARY_ADDRESS), 24576000, 0, RPI_GPIO_<26>());
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ
static RCOutput_ZYNQ rcoutDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
static RCOutput_Bebop rcoutDriver(i2c_mgr_instance.get_device(HAL_RCOUT_BEBOP_BLDC_I2C_BUS, HAL_RCOUT_BEBOP_BLDC_I2C_ADDR));
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
static RCOutput_Disco rcoutDriver(i2c_mgr_instance.get_device(HAL_RCOUT_DISCO_BLDC_I2C_BUS, HAL_RCOUT_DISCO_BLDC_I2C_ADDR));
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
static RCOutput_Sysfs rcoutDriver(0, 0, 14);
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO
static ap::RCOutput_Tap rcoutDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE
static RCOutput_Sysfs rcoutDriver(0, 0, 15);
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ
static RCOutput_Sysfs rcoutDriver(0, 0, 8);
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1
static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device(1, PCA9685_PRIMARY_ADDRESS), 0, 0, RPI_GPIO_<17>());
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_CANZERO
static RCOutput_Sysfs rcoutDriver(0, 0, 2);
#else
static Empty::RCOutput rcoutDriver;
#endif
static Scheduler schedulerInstance;
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
static OpticalFlow_Onboard opticalFlow;
#else
static Empty::OpticalFlow opticalFlow;
#endif
#if HAL_WITH_DSP
static Empty::DSP dspDriver;
#endif
static Empty::Flash flashDriver;
static Empty::WSPIDeviceManager wspi_mgr_instance;
#if HAL_NUM_CAN_IFACES
static CANIface* canDrivers[HAL_NUM_CAN_IFACES];
#endif
HAL_Linux::HAL_Linux() :
AP_HAL::HAL(
&serial0Driver,
&serial1Driver,
&serial2Driver,
&serial3Driver,
&serial4Driver,
&serial5Driver,
&serial6Driver,
&serial7Driver,
&serial8Driver,
&serial9Driver,
&i2c_mgr_instance,
&spi_mgr_instance,
&wspi_mgr_instance,
&analogIn,
&storageDriver,
&serial0Driver,
&gpioDriver,
&rcinDriver,
&rcoutDriver,
&schedulerInstance,
&utilInstance,
&opticalFlow,
&flashDriver,
#if HAL_WITH_DSP
&dspDriver,
#endif
#if HAL_NUM_CAN_IFACES
(AP_HAL::CANIface**)canDrivers
#else
nullptr
#endif
)
{}
void _usage(void)
{
printf("Usage: --serial0 serial0Path --serial1 serial1Path \n");
printf("Examples:\n");
printf("\tserial (0 through 9 available):\n");
printf("\t --serial0 /dev/ttyO4\n");
printf("\t --serial3 /dev/ttyS1\n");
printf("\tlegacy UART options are deprecated, their mappings are:\n");
printf("\t -A/--uartA is SERIAL0\n");
printf("\t -C/--uartC is SERIAL1\n"); // ordering captures the historical use of uartB as SERIAL3
printf("\t -D/--uartD is SERIAL2\n");
printf("\t -B/--uartB is SERIAL3\n");
printf("\t -E/--uartE is SERIAL4\n");
printf("\t -F/--uartF is SERIAL5\n");
printf("\t -G/--uartG is SERIAL6\n");
printf("\t -H/--uartH is SERIAL7\n");
printf("\t -I/--uartI is SERIAL8\n");
printf("\t -J/--uartJ is SERIAL9\n");
printf("\tnetworking tcp:\n");
printf("\t --serial1 tcp:192.168.2.15:1243:wait\n");
printf("\t --serial0 tcp:11.0.0.2:5678\n");
printf("\t --serial0 udp:11.0.0.2:14550\n");
printf("\t --serial0 udp:11.0.0.2:14550\n");
printf("\tnetworking UDP:\n");
printf("\t --serial0 udp:11.0.0.255:14550:bcast\n");
printf("\t --serial0 udpin:0.0.0.0:14550\n");
printf("\tcustom log path:\n");
printf("\t --log-directory /var/APM/logs\n");
printf("\t -l /var/APM/logs\n");
printf("\tcustom terrain path:\n");
printf("\t --terrain-directory /var/APM/terrain\n");
printf("\t -t /var/APM/terrain\n");
printf("\tcustom storage path:\n");
printf("\t --storage-directory /var/APM/storage\n");
printf("\t -s /var/APM/storage\n");
#if AP_MODULE_SUPPORTED
printf("\tmodule support:\n");
printf("\t --module-directory %s\n", AP_MODULE_DEFAULT_DIRECTORY);
printf("\t -M %s\n", AP_MODULE_DEFAULT_DIRECTORY);
#endif
printf("\tcpu affinity:\n");
printf("\t --cpu-affinity 1 (single cpu) or 1,3 (multiple cpus) or 1-3 (range of cpus)\n");
printf("\t -c 1 (single cpu) or 1,3 (multiple cpus) or 1-3 (range of cpus)\n");
}
void HAL_Linux::run(int argc, char* const argv[], Callbacks* callbacks) const
{
#if AP_MODULE_SUPPORTED
const char *module_path = AP_MODULE_DEFAULT_DIRECTORY;
#endif
enum long_options {
CMDLINE_SERIAL0 = 1, // must be in 0-9 order and numbered consecutively
CMDLINE_SERIAL1,
CMDLINE_SERIAL2,
CMDLINE_SERIAL3,
CMDLINE_SERIAL4,
CMDLINE_SERIAL5,
CMDLINE_SERIAL6,
CMDLINE_SERIAL7,
CMDLINE_SERIAL8,
CMDLINE_SERIAL9,
};
int opt;
const struct GetOptLong::option options[] = {
{"uartA", true, 0, 'A'},
{"uartB", true, 0, 'B'},
{"uartC", true, 0, 'C'},
{"uartD", true, 0, 'D'},
{"uartE", true, 0, 'E'},
{"uartF", true, 0, 'F'},
{"uartG", true, 0, 'G'},
{"uartH", true, 0, 'H'},
{"uartI", true, 0, 'I'},
{"uartJ", true, 0, 'J'},
{"serial0", true, 0, CMDLINE_SERIAL0},
{"serial1", true, 0, CMDLINE_SERIAL1},
{"serial2", true, 0, CMDLINE_SERIAL2},
{"serial3", true, 0, CMDLINE_SERIAL3},
{"serial4", true, 0, CMDLINE_SERIAL4},
{"serial5", true, 0, CMDLINE_SERIAL5},
{"serial6", true, 0, CMDLINE_SERIAL6},
{"serial7", true, 0, CMDLINE_SERIAL7},
{"serial8", true, 0, CMDLINE_SERIAL8},
{"serial9", true, 0, CMDLINE_SERIAL9},
{"log-directory", true, 0, 'l'},
{"terrain-directory", true, 0, 't'},
{"storage-directory", true, 0, 's'},
{"module-directory", true, 0, 'M'},
{"defaults", true, 0, 'd'},
{"cpu-affinity", true, 0, 'c'},
{"help", false, 0, 'h'},
{0, false, 0, 0}
};
GetOptLong gopt(argc, argv, "A:B:C:D:E:F:G:H:I:J:l:t:s:he:SM:c:",
options);
/*
parse command line options
*/
while ((opt = gopt.getoption()) != -1) {
switch (opt) {
case 'A':
case 'B':
case 'C':
case 'D':
case 'E':
case 'F':
case 'G':
case 'H':
case 'I':
case 'J': {
int uart_idx = opt - 'A';
// ordering captures the historical use of uartB as SERIAL3
static const uint8_t mapping[] = { 0, 3, 1, 2, 4, 5, 6, 7, 8, 9 };
int serial_idx = mapping[uart_idx];
printf("WARNING: deprecated option --uart%c/-%c will be removed in "
"a future release. Use --serial%d instead.\n",
(char)opt, (char)opt, serial_idx);
serialDrivers[serial_idx]->set_device_path(gopt.optarg);
break;
}
case CMDLINE_SERIAL0:
case CMDLINE_SERIAL1:
case CMDLINE_SERIAL2:
case CMDLINE_SERIAL3:
case CMDLINE_SERIAL4:
case CMDLINE_SERIAL5:
case CMDLINE_SERIAL6:
case CMDLINE_SERIAL7:
case CMDLINE_SERIAL8:
case CMDLINE_SERIAL9:
serialDrivers[opt - CMDLINE_SERIAL0]->set_device_path(gopt.optarg);
break;
case 'l':
utilInstance.set_custom_log_directory(gopt.optarg);
break;
case 't':
utilInstance.set_custom_terrain_directory(gopt.optarg);
break;
case 's':
utilInstance.set_custom_storage_directory(gopt.optarg);
break;
#if AP_MODULE_SUPPORTED
case 'M':
module_path = gopt.optarg;
break;
#endif
case 'd':
utilInstance.set_custom_defaults_path(gopt.optarg);
break;
case 'c':
cpu_set_t cpu_affinity;
if (!utilInstance.parse_cpu_set(gopt.optarg, &cpu_affinity)) {
fprintf(stderr, "Could not parse cpu affinity: %s\n", gopt.optarg);
exit(1);
}
Linux::Scheduler::from(scheduler)->set_cpu_affinity(cpu_affinity);
break;
case 'h':
_usage();
exit(0);
default:
printf("Unknown option '%c'\n", (char)opt);
exit(1);
}
}
// NOTE: signal handlers are only set before the main loop, so
// that if anything before the loops hangs, the default signals
// can still stop the process proprely, although without proper
// teardown.
// This isn't perfect, but still prevents an unkillable process.
scheduler->init();
gpio->init();
rcout->init();
rcin->init();
serial(0)->begin(115200);
analogin->init();
utilInstance.init(argc+gopt.optind-1, &argv[gopt.optind-1]);
// NOTE: See commit 9f5b4ffca ("AP_HAL_Linux_Class: Correct
// deadlock, and infinite loop in setup()") for details about the
// order of scheduler initialize and setup on Linux.
scheduler->set_system_initialized();
// possibly load external modules
#if AP_MODULE_SUPPORTED
if (module_path != nullptr) {
AP_Module::init(module_path);
}
#endif
#if AP_MODULE_SUPPORTED
AP_Module::call_hook_setup_start();
#endif
callbacks->setup();
#if AP_MODULE_SUPPORTED
AP_Module::call_hook_setup_complete();
#endif
setup_signal_handlers();
while (!_should_exit) {
callbacks->loop();
}
// At least try to stop all PWM before shutting down
rcout->force_safety_on();
rcin->teardown();
I2CDeviceManager::from(i2c_mgr)->teardown();
SPIDeviceManager::from(spi)->teardown();
Scheduler::from(scheduler)->teardown();
}
void HAL_Linux::setup_signal_handlers() const
{
struct sigaction sa = { };
sa.sa_flags = SA_NOCLDSTOP;
sa.sa_handler = HAL_Linux::exit_signal_handler;
sigaction(SIGTERM, &sa, NULL);
sigaction(SIGINT, &sa, NULL);
}
HAL_Linux hal_linux;
void HAL_Linux::exit_signal_handler(int signum)
{
hal_linux._should_exit = true;
}
const AP_HAL::HAL &AP_HAL::get_HAL()
{
return hal_linux;
}
AP_HAL::HAL &AP_HAL::get_HAL_mutable()
{
return hal_linux;
}
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