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libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
539 строк
20 KB
juvinski
HAL_Linux_Class: Updates for RCOutput for PocketBeagle2
27 фев 2026, 09:36
27 фев 2026, 09:36
26e2dc5
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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_PRU.h" #include "RCInput_RPI.h" #include "RCInput_SoloLink.h" #include "RCInput_UDP.h" #include "RCInput_Multi.h" #include "RCInput_ZYNQ.h" #include "RCInput_RCProtocol.h" #include "RCOutput_AioPRU.h" #include "RCOutput_AioPRU_PB2.h" #include "RCOutput_Bebop.h" #include "RCOutput_Disco.h" #include "RCOutput_Multi.h" #include "RCOutput_PCA9685.h" #include "RCOutput_PRU.h" #include "RCOutput_Sysfs.h" #include "RCOutput_ZYNQ.h" #include "RCOutput_RPI.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 || \ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PILOTPI 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 || \ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PILOTPI || \ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_T3_GEM_O1 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 || \ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET2 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, PocketPilot e PocketPilot 2 */ #if HAL_LINUX_GPIO_BBB_ENABLED static GPIO_BBB gpioDriver; #elif HAL_LINUX_GPIO_NAVIGATOR_ENABLED static GPIO_Navigator gpioDriver; #elif HAL_LINUX_GPIO_RPI_ENABLED static GPIO_RPI gpioDriver; #elif HAL_LINUX_GPIO_SYSFS_ENABLED static GPIO_Sysfs gpioDriver; #elif HAL_LINUX_GPIO_PB2_ENABLED static GPIO_PB2 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 || \ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET2 static RCInput_AioPRU rcinDriver; #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE static RCInput_Multi rcinDriver{2, NEW_NOTHROW RCInput_AioPRU, NEW_NOTHROW 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 AP_RCPROTOCOL_ZYNQ_ENABLED 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_NOTHROW RCInput_RCProtocol("/dev/uart-sbus", "/dev/uart-sumd"), NEW_NOTHROW 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_PILOTPI static RCInput_RCProtocol rcinDriver{"/dev/ttyAMA0", NULL}; #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_VNAV || \ CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIGATOR || \ 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_T3_GEM_O1 // 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; #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET2 static RCOutput_AioPRU_PB2 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_ptr(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_ptr(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_ptr(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_ptr(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_ptr(4, PCA9685_PRIMARY_ADDRESS), 24576000, 0, RPI_GPIO_<26>()); #elif AP_RCOUTPUT_ZYNQ_ENABLED 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_OBAL_V1 static RCOutput_PCA9685 rcoutDriver(i2c_mgr_instance.get_device_ptr(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); #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PILOTPI RCOutput_Multi::RCOutputGroup rcoutPcaDriver = {16, NEW_NOTHROW RCOutput_PCA9685(i2c_mgr_instance.get_device_ptr(1, PCA9685_PRIMARY_ADDRESS), 24576000, 0, -1) }; RCOutput_Multi::RCOutputGroup rcoutSysfsDriver = {2, NEW_NOTHROW RCOutput_Sysfs(0, 0, 2)}; static RCOutput_Multi rcoutDriver{2, &rcoutPcaDriver, &rcoutSysfsDriver}; #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_T3_GEM_O1 static RCOutput_Sysfs rcoutDriver(0, 0, 7); #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RPI static RCOutput_RPI rcoutDriver; #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; }