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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-03 16:50:34 +08:00
Carlo Wood
6fc30c76a6
app.h, generated from app.h_in, has unnecessary code duplication and isn't a header file (it defines globals, static functions and doesn't have a header guard, moreover, it has a 'using namespace std;'). Because of this, a real headerfile that declares the stuff defined in apps.h was missing leading to even more code duplication: scattered forward declarations in .cpp files and an often repeated type of std::map<std::string, px4_main_t>. This patch moves cmake/qurt/apps.h_in to src/platforms/apps.cpp.in (with some changes) and removes cmake/posix/apps.h_in. Then src/platforms/apps.cpp.in is split into src/platforms/apps.cpp.in and src/platforms/apps.h.in, splitting declarations from definitions. A typedef is defined for the map (apps_map_type). The main difference between cmake/posix/apps.h_in and cmake/qurt/apps.h_in was that the first defined a global 'apps', while qurt stores the apps in QShell. I opted to get rid of the global variable (which are in general evil for various reasons) and used the API of cmake/qurt/apps.h_in where a provided 'apps' map is initialized with a call to init_app_map. Thus removing the existing code duplication.
28 lines
688 B
C
28 lines
688 B
C
/* declarations of builtin command list - automatically generated, do not edit */
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#pragma once
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#include "px4_tasks.h" // px4_main_t
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#include <map>
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extern "C" {
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${builtin_apps_decl_string}
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int shutdown_main(int argc, char *argv[]);
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int list_tasks_main(int argc, char *argv[]);
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int list_files_main(int argc, char *argv[]);
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int list_devices_main(int argc, char *argv[]);
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int list_topics_main(int argc, char *argv[]);
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int sleep_main(int argc, char *argv[]);
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}
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// Maps an app name to it's function.
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typedef std::map<std::string, px4_main_t> apps_map_type;
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// Initialize an apps map.
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void init_app_map(apps_map_type &apps);
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// List an apps map.
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void list_builtins(apps_map_type &apps);
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