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1.打开main.c

  init();run();

void systemInit(void)
{int ret;clock_gettime(CLOCK_MONOTONIC, &start_time);printf("[system]Init...\n");SystemCoreClock = 500 * 1e6; // virtual 500MHzif (pthread_mutex_init(&updateLock, NULL) != 0) {printf("Create updateLock error!\n");exit(1);}if (pthread_mutex_init(&mainLoopLock, NULL) != 0) {printf("Create mainLoopLock error!\n");exit(1);}ret = pthread_create(&tcpWorker, NULL, tcpThread, NULL);if (ret != 0) {printf("Create tcpWorker error!\n");exit(1);}ret = udpInit(&pwmLink, simulator_ip, PORT_PWM, false);printf("[SITL] init PwmOut UDP link to gazebo %s:%d...%d\n", simulator_ip, PORT_PWM, ret);ret = udpInit(&pwmRawLink, simulator_ip, PORT_PWM_RAW, false);printf("[SITL] init PwmOut UDP link to RF9 %s:%d...%d\n", simulator_ip, PORT_PWM_RAW, ret);ret = udpInit(&stateLink, NULL, PORT_STATE, true);printf("[SITL] start UDP server @%d...%d\n", PORT_STATE, ret);ret = udpInit(&rcLink, NULL, PORT_RC, true);printf("[SITL] start UDP server for RC input @%d...%d\n", PORT_RC, ret);ret = pthread_create(&udpWorker, NULL, udpThread, NULL);if (ret != 0) {printf("Create udpWorker error!\n");exit(1);}ret = pthread_create(&udpWorkerRC, NULL, udpRCThread, NULL);if (ret != 0) {printf("Create udpRCThread error!\n");exit(1);}
}

void tasksInitData(void)
{for (int i = 0; i < TASK_COUNT; i++) {tasks[i].attribute = &task_attributes[i];}
}