main.c

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/*
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
 * for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program; if not, see <http://www.gnu.org/licenses/>
 */

/* OpenPilot Includes */
#if defined(_WIN32) || defined(WIN32) || defined(__MINGW32__)
#include <winsock2.h>
#endif

#include "openpilot.h"
#include "uavobjectsinit.h"
#include "systemmod.h"
#include "pios_thread.h"
#include "pios_hal.h"

/* Prototype of PIOS_Board_Init() function */
extern void PIOS_Board_Init(void);
extern void Stack_Change(void);

/* Function Prototypes */
static void initTask();

static int g_argc;
static char **g_argv;

int main(int argc, char *argv[]) {
        setvbuf(stdout, NULL, _IONBF, 1);
        printf("Beginning simulation environment\n");
#if defined(_WIN32) || defined(WIN32) || defined(__MINGW32__)
        WSADATA wsaData;
        WSAStartup(MAKEWORD(2, 2), &wsaData);
#endif

        g_argc = argc;
        g_argv = argv;

        PIOS_heap_initialize_blocks();

        initTask();

        return 0;
}

MODULE_INITSYSTEM_DECLS;

void system_task();

void initTask()
{
        printf("Initialization task running\n");

        PIOS_SYS_Init();

        UAVObjInitialize();

        /* Initialize the task monitor library */
        TaskMonitorInitialize();

        PIOS_HAL_InitUAVTalkReceiver();

        PIOS_SYS_Args(g_argc, g_argv);

        /* board driver init */
        PIOS_Board_Init();

        /* Initialize modules */
        MODULE_INITIALISE_ALL(PIOS_WDG_Clear);

        /* create all modules thread */
        MODULE_TASKCREATE_ALL;

        printf("Initialization task completed-- invoking system task\n");

        system_task();

        printf("System task exited?  Shouldn't happen.\n");
}