mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-10 09:58:28 -04:00
b29d6eff5d
This is going to be used by vehicles that already have an object with setup/loop functions. The vehicle object will just implement the HAL::Callbacks interface.
55 lines
1.2 KiB
C
55 lines
1.2 KiB
C
#ifndef __AP_HAL_MAIN_H__
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#define __AP_HAL_MAIN_H__
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#include "HAL.h"
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2 || CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
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#define CONFIG_MAIN_WITHOUT_ARGC_ARGV 1
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#endif
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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#define AP_MAIN __EXPORT ArduPilot_main
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#endif
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#ifndef AP_MAIN
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#define AP_MAIN main
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#endif
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#if CONFIG_MAIN_WITHOUT_ARGC_ARGV
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#define AP_HAL_MAIN() extern "C" { \
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int AP_MAIN(void) { \
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AP_HAL::HAL::FunCallbacks callbacks(setup, loop); \
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hal.run(0, NULL, &callbacks); \
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return 0; \
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} \
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}
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#define AP_HAL_MAIN_CALLBACKS(CALLBACKS) extern "C" { \
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int AP_MAIN(void) { \
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hal.run(0, NULL, CALLBACKS); \
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return 0; \
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} \
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}
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#else
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#define AP_HAL_MAIN() extern "C" { \
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int AP_MAIN(int argc, char* const argv[]) { \
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AP_HAL::HAL::FunCallbacks callbacks(setup, loop); \
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hal.run(argc, argv, &callbacks); \
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return 0; \
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} \
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}
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#define AP_HAL_MAIN_CALLBACKS(CALLBACKS) extern "C" { \
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int AP_MAIN(int argc, char* const argv[]) { \
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hal.run(argc, argv, CALLBACKS); \
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return 0; \
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} \
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}
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#endif
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#endif // __AP_HAL_MAIN_H__
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