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https://github.com/ArduPilot/ardupilot
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2e464a53c2
The switching between different AP_HAL was happening by giving different definitions of AP_HAL_BOARD_DRIVER, and the programs would use it to instantiate. A program or library code would have to explicitly include (and depend) on the concrete implementation of the HAL, even when using it only via interface. The proposed change move this dependency to be link time. There is a AP_HAL::get_HAL() function that is used by the client code. Each implementation of HAL provides its own definition of this function, returning the appropriate concrete instance. Since this replaces the job of AP_HAL_BOARD_DRIVER, the definition was removed. The static variables for PX4 and VRBRAIN were named differently to avoid shadowing the extern symbol 'hal'.
70 lines
1.6 KiB
C++
70 lines
1.6 KiB
C++
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#ifndef __AP_HAL_NAMESPACE_H__
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#define __AP_HAL_NAMESPACE_H__
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#include "string.h"
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#include "utility/functor.h"
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namespace AP_HAL {
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/* Toplevel pure virtual class Hal.*/
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class HAL;
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/* Toplevel class names for drivers: */
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class UARTDriver;
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class I2CDriver;
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class SPIDeviceDriver;
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class SPIDeviceManager;
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class AnalogSource;
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class AnalogIn;
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class Storage;
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class DigitalSource;
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class GPIO;
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class RCInput;
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class RCOutput;
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class Scheduler;
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class Semaphore;
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class Util;
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/* Utility Classes */
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class Print;
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class Stream;
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class BetterStream;
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/* Typdefs for function pointers (Procedure, Member Procedure)
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For member functions we use the FastDelegate delegates class
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which allows us to encapculate a member function as a type
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*/
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typedef void(*Proc)(void);
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FUNCTOR_TYPEDEF(MemberProc, void);
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/**
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* Global names for all of the existing SPI devices on all platforms.
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*/
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enum SPIDevice {
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SPIDevice_Dataflash = 0,
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SPIDevice_ADS7844 = 1,
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SPIDevice_MS5611 = 2,
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SPIDevice_MPU6000 = 3,
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SPIDevice_ADNS3080_SPI0 = 4,
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SPIDevice_ADNS3080_SPI3 = 5,
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SPIDevice_MPU9250 = 6,
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SPIDevice_L3GD20 = 7,
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SPIDevice_LSM303D = 8,
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SPIDevice_LSM9DS0_AM = 9,
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SPIDevice_LSM9DS0_G = 10,
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SPIDevice_Ublox = 11,
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SPIDevice_RASPIO = 12
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};
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// Must be implemented by the concrete HALs.
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const HAL& get_HAL();
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}
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#endif // __AP_HAL_NAMESPACE_H__
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