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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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cfc579542e
- much simpler direct interface using Ignition Transport - in tree models and worlds - control allocation output configuration, no more magic actuator mapping to mavlink and back - currently requires no custom Gazebo plugins (keeping things as lightweight and simple as possible) Co-authored-by: Jaeyoung-Lim <jalim@ethz.ch>
128 lines
4.3 KiB
C
128 lines
4.3 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2012-2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file visibility.h
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*
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* Definitions controlling symbol naming and visibility.
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*
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* This file is normally included automatically by the build system.
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*/
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#pragma once
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#ifdef __EXPORT
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# undef __EXPORT
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#endif
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#define __EXPORT __attribute__ ((visibility ("default")))
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#ifdef __PRIVATE
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# undef __PRIVATE
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#endif
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#define __PRIVATE __attribute__ ((visibility ("hidden")))
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#ifdef __cplusplus
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# define __BEGIN_DECLS extern "C" {
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# define __END_DECLS }
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#else
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# define __BEGIN_DECLS
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# define __END_DECLS
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#endif
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#define system_exit exit
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#define system_clock_gettime clock_gettime
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#define system_clock_settime clock_settime
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#define system_pthread_cond_timedwait pthread_cond_timedwait
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#define system_usleep usleep
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#define system_sleep sleep
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#ifndef PX4_DISABLE_GCC_POISON
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/* exit() is used on NuttX to exit a task. However on Posix, it will exit the
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* whole application, so we prevent its use there. There are cases where it
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* still needs to be used, thus we remap system_exit to exit.
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*/
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#if !defined(__PX4_NUTTX)
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#include <stdlib.h>
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#ifdef __cplusplus
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#include <cstdlib>
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#endif
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/* We should include cstdlib or stdlib.h but this doesn't
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* compile because many C++ files include stdlib.h and would
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* need to get changed. */
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//#pragma GCC poison exit
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#endif // !defined(__PX4_NUTTX)
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/* For SITL lockstep we fake the clock, sleeping, and timedwaits
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* Therefore, we prefix these syscalls with system_. */
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#include <time.h>
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/* We can't poison clock_settime/clock_gettime because they are
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* used in DriverFramework. */
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#if !defined(__PX4_NUTTX)
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#include <pthread.h>
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// We can't include this for NuttX otherwise we get conflicts for read/write
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// symbols in cannode.
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#endif // !defined(__PX4_NUTTX)
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/* We can't poison pthread_cond_timedwait because it seems to be used in the
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* <string> include. */
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/* We don't poison usleep and sleep because it is used in dependencies
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* like uavcan. */
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#if !defined(__PX4_NUTTX)
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#include <unistd.h>
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// We can't include this for NuttX otherwise we get conflicts for read/write
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// symbols in cannode.
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#endif // !defined(__PX4_NUTTX)
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/* On NuttX we call clearenv() so we cannot use getenv() and others (see
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* px4_task_spawn_cmd() in px4_nuttx_tasks.c).
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* We need to include the headers declaring getenv() before the pragma,
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* otherwise it will trigger a poison error. */
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#if defined(__PX4_NUTTX)
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#include <stdlib.h>
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#ifdef __cplusplus
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#include <cstdlib>
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#endif
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/* We should include cstdlib or stdlib.h but this doesn't
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* compile because many C++ files include stdlib.h and would
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* need to get changed. */
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#pragma GCC poison getenv setenv putenv
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#endif // defined(__PX4_NUTTX)
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#endif // PX4_DISABLE_GCC_POISON
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