APM的啟動與入口

#define AP_HAL_MAIN() \

    AP_HAL::HAL::FunCallbacks callbacks(setup, loop); \

    extern "C" {                               \

    int AP_MAIN(int argc, char* const argv[]); \

    int AP_MAIN(int argc, char* const argv[]) { \

        hal.run(argc, argv, &callbacks); \

        return 0; \

    } \

    }

#define AP_HAL_MAIN_CALLBACKS(CALLBACKS) extern "C" { \

        hal.run(argc, argv, CALLBACKS); \

 virtual void run(int argc, char * const argv[], Callbacks* callbacks) const = 0;  HAL.h

 const AP_HAL::HAL& hal = AP_HAL::get_HAL();

 class HAL_ChibiOS : public AP_HAL::HAL    HAL_ChibiOS_class.cpp

 {

 }

 class HAL

    struct Callbacks

    {

        virtual void setup() = 0;

        virtual void loop() = 0;

    };

}

 static AP_HAL::HAL::Callbacks* g_callbacks;

HAL_ChibiOS::run(int argc, char * const argv[], Callbacks* callbacks)

{

    g_callbacks = callbacks;

    //Takeover main

    main_loop();

main_loop()

    hal.scheduler->init();   //AP_HAL::Scheduler*  scheduler;   class AP_HAL::Scheduler {}

    g_callbacks->setup();

    while (true)

        g_callbacks->loop();

    }

 class AP_Vehicle : public AP_HAL::HAL::Callbacks

    void setup(void) override final;

    // HAL::Callbacks implementation.

    void loop() override final;

 void AP_Vehicle::setup()

    hal.console->printf("\n\nInit %s"

                        "\n\nFree RAM: %u\n",

                        AP::fwversion().fw_string,

                        (unsigned)hal.util->available_memory());

    const AP_Scheduler::Task *tasks;

    uint8_t task_count;

    uint32_t log_bit;

    get_scheduler_tasks(tasks, task_count, log_bit);

    AP::scheduler().init(tasks, task_count, log_bit);

    init_ardupilot();

void AP_Vehicle::loop()

    scheduler.loop();

    G_Dt = scheduler.get_loop_period_s();

virtual void get_scheduler_tasks(const AP_Scheduler::Task *&tasks, uint8_t &task_count, uint32_t &log_bit) = 0;  AP_Verticle.h

 void Copter::get_scheduler_tasks(const AP_Scheduler::Task *&tasks,

                                 uint8_t &task_count,

                                 uint32_t &log_bit)

    tasks = &scheduler_tasks[0];

    task_count = ARRAY_SIZE(scheduler_tasks);

    log_bit = MASK_LOG_PM;

// \libraries\AP_HAL\utility/function.h

#define FUNCTOR_TYPEDEF(name, rettype, ...) \

    typedef Functor<rettype, ## __VA_ARGS__> name

#define FUNCTOR_DECLARE(name, rettype, ...) \

    Functor<rettype, ## __VA_ARGS__> name

#define FUNCTOR_BIND(obj, func, rettype, ...) \

    Functor<rettype, ## __VA_ARGS__>::bind<std::remove_reference<decltype(*obj)>::type, func>(obj)

#define FUNCTOR_BIND_MEMBER(func, rettype, ...) \

    Functor<rettype, ## __VA_ARGS__>::bind<std::remove_reference<decltype(*this)>::type, func>(this)

//constructor

AP_Scheduler::AP_Scheduler(scheduler_fastloop_fn_t fastloop_fn) :

    _fastloop_fn(fastloop_fn)

AP_Scheduler scheduler{FUNCTOR_BIND_MEMBER(&AP_Vehicle::fast_loop, void)};    AP_Vehicle.h

Functor<void>::bind<&AP_Scheduler,&AP_Vehicle::fast_loop>

    return {obj,(void)AP_Vehicle::fast_loop}

template <class RetType, class... Args>

class Functor

    template<class T, RetType (T::*method)(Args...)>

    static constexpr Functor bind(T *obj)

    {

        return { obj, method_wrapper<T, method> };

    static RetType method_wrapper(void *obj, Args... args)

        T *t = static_cast<T*>(obj);

        return (t->*method)(args...);

virtual void fast_loop();

void Copter::fast_loop()

    AP_Vehicle::fast_loop();

 class Copter : public AP_Vehicle

 Copter copter;

 AP_HAL_MAIN_CALLBACKS(&copter);

 展開是

 int  main(int argc, char* const argv[]);

 int main(int argc, char* const argv[])

    hal.run(argc, argv, &copter);

    return 0;