aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity
2e464a53c2
Ardupilot2/libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
Caio Marcelo de Oliveira Filho 2e464a53c2 AP_HAL: make code not depend on concrete HAL implementations 
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'.
2015-10-21 09:16:07 +11:00

245 lines
7.5 KiB
C++
Raw Blame History

#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#include "HAL_Linux_Class.h"
#include "AP_HAL_Linux_Private.h"
#include <AP_HAL/utility/getopt_cpp.h>
#include <stdio.h>
#include <unistd.h>
#include <stdlib.h>
#include <AP_HAL_Empty/AP_HAL_Empty.h>
#include <AP_HAL_Empty/AP_HAL_Empty_Private.h>
using namespace Linux;
// 3 serial ports on Linux for now
static LinuxUARTDriver uartADriver(true);
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
static LinuxSPIUARTDriver uartBDriver;
#else
static LinuxUARTDriver uartBDriver(false);
#endif
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
static LinuxRPIOUARTDriver uartCDriver;
#else
static LinuxUARTDriver uartCDriver(false);
#endif
static LinuxUARTDriver uartEDriver(false);
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
static LinuxSemaphore i2cSemaphore0;
static LinuxI2CDriver i2cDriver0(&i2cSemaphore0, "/dev/i2c-0");
static LinuxSemaphore i2cSemaphore1;
static LinuxI2CDriver i2cDriver1(&i2cSemaphore1, "/dev/i2c-1");
static LinuxSemaphore i2cSemaphore2;
static LinuxI2CDriver i2cDriver2(&i2cSemaphore2, "/dev/i2c-2");
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
static LinuxSemaphore i2cSemaphore0;
static LinuxI2CDriver i2cDriver0(&i2cSemaphore0, "/dev/i2c-2");
#else
static LinuxSemaphore i2cSemaphore0;
static LinuxI2CDriver i2cDriver0(&i2cSemaphore0, "/dev/i2c-1");
#endif
static LinuxSPIDeviceManager spiDeviceManager;
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
static NavioAnalogIn analogIn;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
static RaspilotAnalogIn analogIn;
#else
static LinuxAnalogIn analogIn;
#endif
/*
select between FRAM and FS
*/
#if LINUX_STORAGE_USE_FRAM == 1
static LinuxStorage_FRAM storageDriver;
#else
static LinuxStorage storageDriver;
#endif
/*
use the BBB gpio driver on ERLE, PXF and BBBMINI
*/
#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
static LinuxGPIO_BBB gpioDriver;
/*
use the RPI gpio driver on Navio
*/
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
static LinuxGPIO_RPI gpioDriver;
#else
static Empty::EmptyGPIO 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 LinuxRCInput_PRU rcinDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
static LinuxRCInput_AioPRU rcinDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
static LinuxRCInput_Navio rcinDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
static LinuxRCInput_Raspilot rcinDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ
static LinuxRCInput_ZYNQ rcinDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
static LinuxRCInput_UDP rcinDriver;
#else
static LinuxRCInput 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 LinuxRCOutput_PRU rcoutDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
static LinuxRCOutput_AioPRU rcoutDriver;
/*
use the PCA9685 based RCOutput driver on Navio
*/
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
static LinuxRCOutput_PCA9685 rcoutDriver(PCA9685_PRIMARY_ADDRESS, true, 3, RPI_GPIO_27);
/*
use the STM32 based RCOutput driver on Raspilot
*/
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
static LinuxRCOutput_Raspilot rcoutDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ZYNQ
static LinuxRCOutput_ZYNQ rcoutDriver;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
static LinuxRCOutput_Bebop rcoutDriver;
#else
static Empty::EmptyRCOutput rcoutDriver;
#endif
static LinuxScheduler schedulerInstance;
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
static LinuxUtilRPI utilInstance;
#else
static LinuxUtil utilInstance;
#endif
HAL_Linux::HAL_Linux() :
AP_HAL::HAL(
&uartADriver,
&uartBDriver,
&uartCDriver,
NULL, /* no uartD */
&uartEDriver,
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
&i2cDriver0,
&i2cDriver1,
&i2cDriver2,
#else
&i2cDriver0,
NULL,
NULL,
#endif
&spiDeviceManager,
&analogIn,
&storageDriver,
&uartADriver,
&gpioDriver,
&rcinDriver,
&rcoutDriver,
&schedulerInstance,
&utilInstance)
{}
void _usage(void)
{
printf("Usage: -A uartAPath -B uartBPath -C uartCPath\n");
printf("Options:\n");
printf("\t-serial: -A /dev/ttyO4\n");
printf("\t -B /dev/ttyS1\n");
printf("\t-tcp: -C tcp:192.168.2.15:1243:wait\n");
printf("\t -A tcp:11.0.0.2:5678\n");
printf("\t -A udp:11.0.0.2:5678\n");
printf("\t-custom log path:\n");
printf("\t --log-directory /var/APM/logs\n");
printf("\t -l /var/APM/logs\n");
printf("\t-custom terrain path:\n");
printf("\t --terrain-directory /var/APM/terrain\n");
printf("\t -t /var/APM/terrain\n");
}
void HAL_Linux::init(int argc,char* const argv[]) const
{
int opt;
const struct GetOptLong::option options[] = {
{"uartA", true, 0, 'A'},
{"uartB", true, 0, 'B'},
{"uartC", true, 0, 'C'},
{"uartE", true, 0, 'E'},
{"log-directory", true, 0, 'l'},
{"terrain-directory", true, 0, 't'},
{"help", false, 0, 'h'},
{0, false, 0, 0}
};
GetOptLong gopt(argc, argv, "A:B:C:E:l:t:h",
options);
/*
parse command line options
*/
while ((opt = gopt.getoption()) != -1) {
switch (opt) {
case 'A':
uartADriver.set_device_path(gopt.optarg);
break;
case 'B':
uartBDriver.set_device_path(gopt.optarg);
break;
case 'C':
uartCDriver.set_device_path(gopt.optarg);
break;
case 'E':
uartEDriver.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 'h':
_usage();
exit(0);
default:
printf("Unknown option '%c'\n", (char)opt);
exit(1);
}
}
scheduler->init(NULL);
gpio->init();
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
i2c->begin();
i2c1->begin();
i2c2->begin();
#else
i2c->begin();
#endif
spi->init(NULL);
rcout->init(NULL);
rcin->init(NULL);
uartA->begin(115200);
uartE->begin(115200);
analogin->init(NULL);
utilInstance.init(argc+gopt.optind-1, &argv[gopt.optind-1]);
}
const AP_HAL::HAL& AP_HAL::get_HAL() {
static const HAL_Linux hal;
return hal;
}
#endif
Reference in New Issue View Git Blame Copy Permalink