From 346ab77c274d8ea2ab5c24453587a6fc24b84330 Mon Sep 17 00:00:00 2001
From: Caio Marcelo de Oliveira Filho <caio.oliveira@intel.com>
Date: Mon, 19 Oct 2015 12:25:59 -0200
Subject: [PATCH] AP_HAL_Empty: implement HAL::run()

---
 libraries/AP_HAL_Empty/AP_HAL_Empty_Main.h |  8 +++-----
 libraries/AP_HAL_Empty/HAL_Empty_Class.cpp | 16 ++++++++++++++++
 libraries/AP_HAL_Empty/HAL_Empty_Class.h   |  1 +
 3 files changed, 20 insertions(+), 5 deletions(-)

diff --git a/libraries/AP_HAL_Empty/AP_HAL_Empty_Main.h b/libraries/AP_HAL_Empty/AP_HAL_Empty_Main.h
index 0bdf5c3aa7..2154645b36 100644
--- a/libraries/AP_HAL_Empty/AP_HAL_Empty_Main.h
+++ b/libraries/AP_HAL_Empty/AP_HAL_Empty_Main.h
@@ -6,11 +6,9 @@
 #if CONFIG_HAL_BOARD == HAL_BOARD_EMPTY
 #define AP_HAL_MAIN() extern "C" {\
     int main (void) {\
-	hal.init(0, NULL);			\
-        setup();\
-        hal.scheduler->system_initialized(); \
-        for(;;) loop();\
-        return 0;\
+        AP_HAL::HAL::FunCallbacks callbacks(setup, loop); \
+        hal.run(0, NULL, &callbacks); \
+        return 0; \
     }\
     }
 #endif // HAL_BOARD_EMPTY
diff --git a/libraries/AP_HAL_Empty/HAL_Empty_Class.cpp b/libraries/AP_HAL_Empty/HAL_Empty_Class.cpp
index c55a2d4599..abe8349aa7 100644
--- a/libraries/AP_HAL_Empty/HAL_Empty_Class.cpp
+++ b/libraries/AP_HAL_Empty/HAL_Empty_Class.cpp
@@ -2,6 +2,8 @@
 #include <AP_HAL/AP_HAL.h>
 #if CONFIG_HAL_BOARD == HAL_BOARD_EMPTY
 
+#include <assert.h>
+
 #include "HAL_Empty_Class.h"
 #include "AP_HAL_Empty_Private.h"
 
@@ -52,6 +54,20 @@ void HAL_Empty::init(int argc,char* const argv[]) const {
     _member->init();
 }
 
+void HAL_Empty::run(int argc, char* const argv[], Callbacks* callbacks) const
+{
+    assert(callbacks);
+
+    init(argc, argv);
+
+    callbacks->setup();
+    scheduler->system_initialized();
+
+    for (;;) {
+        callbacks->loop();
+    }
+}
+
 const AP_HAL::HAL& AP_HAL::get_HAL() {
     static const HAL_Empty hal;
     return hal;
diff --git a/libraries/AP_HAL_Empty/HAL_Empty_Class.h b/libraries/AP_HAL_Empty/HAL_Empty_Class.h
index 29abb45e61..5e6ad927ff 100644
--- a/libraries/AP_HAL_Empty/HAL_Empty_Class.h
+++ b/libraries/AP_HAL_Empty/HAL_Empty_Class.h
@@ -11,6 +11,7 @@ class HAL_Empty : public AP_HAL::HAL {
 public:
     HAL_Empty();
     void init(int argc, char * const * argv) const;
+    void run(int argc, char* const* argv, Callbacks* callbacks) const override;
 private:
     Empty::EmptyPrivateMember *_member;
 };