Changeset 14991 in vbox for trunk

Timestamp:

Dec 4, 2008 3:17:33 PM (16 years ago)

Author:

vboxsync

Message:

Main: rework the Linux host drive code to use libdbus-1 directly instead of libhal

Location:

trunk/src/VBox/Main

Files:

• HostImpl.cpp (modified) (11 diffs)
• Makefile.kmk (modified) (3 diffs)
• include/HostHardwareLinux.h (added)
• include/HostImpl.h (modified) (3 diffs)
• linux/HostHardwareLinux.cpp (added)
• testcase/Makefile.kmk (modified) (2 diffs)
• testcase/tstHostHardwareLinux.cpp (moved) (moved from trunk/src/VBox/Main/testcase/tstUSBLinux.cpp ) (3 diffs)
• testcase/tstUSBLinux.h (modified) (1 diff)

trunk/src/VBox/Main/HostImpl.cpp

@@ -24 +24 @@
 
 #ifdef RT_OS_LINUX
-# include <sys/types.h>
-# include <sys/stat.h>
-# include <unistd.h>
+// # include <sys/types.h>
+// # include <sys/stat.h>
+// # include <unistd.h>
 # include <sys/ioctl.h>
-# include <fcntl.h>
-# include <mntent.h>
+// # include <fcntl.h>
+// # include <mntent.h>
 /* bird: This is a hack to work around conflicts between these linux kernel headers
  *       and the GLIBC tcpip headers. They have different declarations of the 4
  *       standard byte order functions. */
-# define _LINUX_BYTEORDER_GENERIC_H
-# include <linux/cdrom.h>
-# ifdef VBOX_WITH_LIBHAL
-#  include <libhal.h>
-/* These are defined by libhal.h and by VBox header files. */
-#  undef TRUE
-#  undef FALSE
-# endif
+// # define _LINUX_BYTEORDER_GENERIC_H
+// # include <linux/cdrom.h>
 # include <errno.h>
 # include <net/if.h>
@@ -117 +111 @@
 #include <iprt/param.h>
 #include <iprt/env.h>
+#include <iprt/mem.h>
 #ifdef RT_OS_SOLARIS
 # include <iprt/path.h>
@@ -298 +293 @@
     CHECK_READY();
     std::list <ComObjPtr <HostDVDDrive> > list;
+    HRESULT rc = S_OK;
 
 #if defined(RT_OS_WINDOWS)
@@ -362 +358 @@
 
 #elif defined(RT_OS_LINUX)
-#ifdef VBOX_WITH_LIBHAL
-    if (!getDVDInfoFromHal(list)) /* Playing with #defines in this way is nasty, I know. */
-#endif /* VBOX_WITH_LIBHAL defined */
-    // On Linux without hal, the situation is much more complex. We will take a
-    // heuristical approach and also allow the user to specify a list of host
-    // CDROMs using an environment variable.
-    // The general strategy is to try some known device names and see of they
-    // exist. At last, we'll enumerate the /etc/fstab file (luckily there's an
-    // API to parse it) for CDROM devices. Ok, let's start!
-
-    {
-        if (RTEnvGet("VBOX_CDROM"))
-        {
-            char *cdromEnv = strdupa(RTEnvGet("VBOX_CDROM"));
-            char *cdromDrive;
-            cdromDrive = strtok(cdromEnv, ":"); /** @todo use strtok_r */
-            while (cdromDrive)
-            {
-                if (validateDevice(cdromDrive, true))
-                {
-                    ComObjPtr <HostDVDDrive> hostDVDDriveObj;
-                    hostDVDDriveObj.createObject();
-                    hostDVDDriveObj->init (Bstr (cdromDrive));
-                    list.push_back (hostDVDDriveObj);
-                }
-                cdromDrive = strtok(NULL, ":");
-            }
-        }
-        else
-        {
-            // this is a good guess usually
-            if (validateDevice("/dev/cdrom", true))
-            {
-                    ComObjPtr <HostDVDDrive> hostDVDDriveObj;
-                    hostDVDDriveObj.createObject();
-                    hostDVDDriveObj->init (Bstr ("/dev/cdrom"));
-                    list.push_back (hostDVDDriveObj);
-            }
-
-            // check the mounted drives
-            parseMountTable((char*)"/etc/mtab", list);
-
-            // check the drives that can be mounted
-            parseMountTable((char*)"/etc/fstab", list);
-        }
-    }
+    if (RT_SUCCESS (mHostDrives.updateDVDs()))
+        for (DriveInfoList::const_iterator it = mHostDrives.DVDBegin();
+             SUCCEEDED (rc) && it != mHostDrives.DVDEnd(); ++it)        
+        {
+            ComObjPtr<HostDVDDrive> hostDVDDriveObj;
+            Bstr device (it->mDevice.c_str());
+            Bstr udi (it->mUdi.empty() ? NULL : it->mUdi.c_str());
+            Bstr description (it->mDescription.empty() ? NULL : it->mDescription.c_str());
+            if (device.isNull() || (!it->mUdi.empty() && udi.isNull()) ||
+                (!it->mDescription.empty() && description.isNull()))
+                rc = E_OUTOFMEMORY;
+            if (SUCCEEDED (rc))
+                rc = hostDVDDriveObj.createObject();
+            if (SUCCEEDED (rc))
+                rc = hostDVDDriveObj->init (device, udi, description);
+            if (SUCCEEDED (rc))
+                list.push_back(hostDVDDriveObj);
+        }
 #elif defined(RT_OS_DARWIN)
     PDARWINDVD cur = DarwinGetDVDDrives();
@@ -431 +399 @@
     collection->init (list);
     collection.queryInterfaceTo(drives);
-    return S_OK;
+    return rc;
 }
 
@@ -448 +416 @@
 
     std::list <ComObjPtr <HostFloppyDrive> > list;
+    HRESULT rc = S_OK;
 
 #ifdef RT_OS_WINDOWS
@@ -470 +439 @@
     delete[] hostDrives;
 #elif defined(RT_OS_LINUX)
-#ifdef VBOX_WITH_LIBHAL
-    if (!getFloppyInfoFromHal(list)) /* Playing with #defines in this way is nasty, I know. */
-#endif /* VBOX_WITH_LIBHAL defined */
-    // As with the CDROMs, on Linux we have to take a multi-level approach
-    // involving parsing the mount tables. As this is not bulletproof, we'll
-    // give the user the chance to override the detection by an environment
-    // variable and skip the detection.
-
-    {
-        if (RTEnvGet("VBOX_FLOPPY"))
-        {
-            char *floppyEnv = strdupa(RTEnvGet("VBOX_FLOPPY"));
-            char *floppyDrive;
-            floppyDrive = strtok(floppyEnv, ":");
-            while (floppyDrive)
-            {
-                // check if this is an acceptable device
-                if (validateDevice(floppyDrive, false))
-                {
-                    ComObjPtr <HostFloppyDrive> hostFloppyDriveObj;
-                    hostFloppyDriveObj.createObject();
-                    hostFloppyDriveObj->init (Bstr (floppyDrive));
-                    list.push_back (hostFloppyDriveObj);
-                }
-                floppyDrive = strtok(NULL, ":");
-            }
-        }
-        else
-        {
-            // we assume that a floppy is always /dev/fd[x] with x from 0 to 7
-            char devName[10];
-            for (int i = 0; i <= 7; i++)
-            {
-                sprintf(devName, "/dev/fd%d", i);
-                if (validateDevice(devName, false))
-                {
-                    ComObjPtr <HostFloppyDrive> hostFloppyDriveObj;
-                    hostFloppyDriveObj.createObject();
-                    hostFloppyDriveObj->init (Bstr (devName));
-                    list.push_back (hostFloppyDriveObj);
-                }
-            }
-        }
-    }
+    if (RT_SUCCESS (mHostDrives.updateFloppies()))
+        for (DriveInfoList::const_iterator it = mHostDrives.FloppyBegin();
+             SUCCEEDED (rc) && it != mHostDrives.FloppyEnd(); ++it)        
+        {
+            ComObjPtr<HostFloppyDrive> hostFloppyDriveObj;
+            Bstr device (it->mDevice.c_str());
+            Bstr udi (it->mUdi.empty() ? NULL : it->mUdi.c_str());
+            Bstr description (it->mDescription.empty() ? NULL : it->mDescription.c_str());
+            if (device.isNull() || (!it->mUdi.empty() && udi.isNull()) ||
+                (!it->mDescription.empty() && description.isNull()))
+                rc = E_OUTOFMEMORY;
+            if (SUCCEEDED (rc))
+                rc = hostFloppyDriveObj.createObject();
+            if (SUCCEEDED (rc))
+                rc = hostFloppyDriveObj->init (device, udi, description);
+            if (SUCCEEDED (rc))
+                list.push_back(hostFloppyDriveObj);
+        }
 #else
     /* PORTME */
@@ -522 +465 @@
     collection->init (list);
     collection.queryInterfaceTo(drives);
-    return S_OK;
+    return rc;
 }
 
@@ -1876 +1819 @@
 ////////////////////////////////////////////////////////////////////////////////
 
-#if defined(RT_OS_LINUX) && defined(VBOX_WITH_LIBHAL)
-/* Linux, load libhal statically */
-
-/** Helper function for setting up a libhal context */
-bool hostInitLibHal(DBusConnection **pDBusConnection,
-                    LibHalContext **pLibHalContext)
-{
-    bool halSuccess = true;
-    DBusError dbusError;
-
-    dbus_error_init (&dbusError);
-    DBusConnection *dbusConnection;
-    LibHalContext *libhalContext;
-    dbusConnection = dbus_bus_get (DBUS_BUS_SYSTEM, &dbusError);
-    if (dbusConnection == NULL)
-        halSuccess = false;
-    if (dbusConnection == NULL && !dbus_error_is_set (&dbusError))
-        LogRelFunc (("Unresolved error getting DBus connection.\n"));
-    if (halSuccess)
-    {
-        libhalContext = libhal_ctx_new();
-        if (libhalContext == NULL)
-            halSuccess = false;
-    }
-    if (   halSuccess
-        && !libhal_ctx_set_dbus_connection (libhalContext, dbusConnection))
-        halSuccess = false;
-    if (   halSuccess
-        && !libhal_ctx_init (libhalContext, &dbusError))
-    {
-        halSuccess = false;
-        if (!dbus_error_is_set (&dbusError))
-            LogRelFunc (("Unresolved error initialising the libhal context.\n"));
-    }
-    if (halSuccess)
-    {
-        *pDBusConnection = dbusConnection;
-        *pLibHalContext = libhalContext;
-    }
-    return halSuccess;
-}
-
-/**
- * Helper function to query the hal subsystem for information about DVD drives attached to the
- * system.
- *
- * @returns true if information was successfully obtained, false otherwise
- * @retval  list drives found will be attached to this list
- */
-bool Host::getDVDInfoFromHal(std::list <ComObjPtr <HostDVDDrive> > &list)
-{
-    DBusConnection *dbusConnection;
-    LibHalContext *libhalContext;
-    int numDevices = 0;
-    char **halDevices = NULL;
-    bool halSuccess = hostInitLibHal (&dbusConnection, &libhalContext);
-    if (halSuccess)
-        halDevices = libhal_manager_find_device_string_match(libhalContext,
-                                                "storage.drive_type", "cdrom",
-                                                &numDevices, NULL);
-    /* Hal is installed and working, so if no devices are reported, assume
-       that there are none. */
-    for (int i = 0; halSuccess && i < numDevices; ++i)
-    {
-        char *devNode = libhal_device_get_property_string(libhalContext,
-                                halDevices[i], "block.device", NULL);
-        Utf8Str description;
-        char *vendor = NULL, *product = NULL;
-        if (devNode != NULL)
-        {
-            vendor = libhal_device_get_property_string(libhalContext,
-                            halDevices[i], "info.vendor", NULL);
-            product =  libhal_device_get_property_string(libhalContext,
-                            halDevices[i], "info.product", NULL);
-            if ((product != 0 && product[0] != 0))
-            {
-                if ((vendor != 0) && (vendor[0] != 0))
-                    description = Utf8StrFmt ("%s %s",
-                                              vendor, product);
-                else
-                    description = product;
-            }
-            ComObjPtr <HostDVDDrive> hostDVDDriveObj;
-            hostDVDDriveObj.createObject();
-            if (!description.isNull ())
-                hostDVDDriveObj->init (Bstr (devNode),
-                                       Bstr (halDevices[i]),
-                                       Bstr (description));
-            else
-                hostDVDDriveObj->init (Bstr (devNode),
-                                       Bstr (halDevices[i]));
-            list.push_back (hostDVDDriveObj);
-            if (vendor != NULL)
-                libhal_free_string(vendor);
-            if (product != NULL)
-                libhal_free_string(product);
-            libhal_free_string(devNode);
-        }
-    }
-    if (halDevices != NULL)
-        libhal_free_string_array(halDevices);
-    if (halSuccess)
-        libhal_ctx_shutdown (libhalContext, NULL);
-    if (libhalContext != NULL)
-        libhal_ctx_free (libhalContext);
-    if (dbusConnection != NULL)
-        dbus_connection_unref (dbusConnection);
-    return halSuccess;
-}
-
-/**
- * Helper function to query the hal subsystem for information about floppy drives attached to the
- * system.
- *
- * @returns true if information was successfully obtained, false otherwise
- * @retval  list drives found will be attached to this list
- */
-bool Host::getFloppyInfoFromHal(std::list <ComObjPtr <HostFloppyDrive> > &list)
-{
-    DBusConnection *dbusConnection;
-    LibHalContext *libhalContext;
-    int numDevices = 0;
-    char **halDevices = NULL;
-    bool halSuccess = hostInitLibHal (&dbusConnection, &libhalContext);
-    if (halSuccess)
-        halDevices = libhal_manager_find_device_string_match(libhalContext,
-                                                "storage.drive_type", "floppy",
-                                                &numDevices, NULL);
-    /* Hal is installed and working, so if no devices are reported, assume
-       that there are none. */
-    for (int i = 0; halSuccess && i < numDevices; ++i)
-    {
-        char *devNode = libhal_device_get_property_string(libhalContext,
-                                halDevices[i], "block.device", NULL);
-        Utf8Str description;
-        char *vendor = NULL, *product = NULL;
-        if (devNode != NULL)
-        {
-            vendor = libhal_device_get_property_string(libhalContext,
-                            halDevices[i], "info.vendor", NULL);
-            product =  libhal_device_get_property_string(libhalContext,
-                            halDevices[i], "info.product", NULL);
-            if ((product != 0 && product[0] != 0))
-            {
-                if ((vendor != 0) && (vendor[0] != 0))
-                    description = Utf8StrFmt ("%s %s",
-                                              vendor, product);
-                else
-                    description = product;
-            }
-            ComObjPtr <HostFloppyDrive> hostFloppyDriveObj;
-            hostFloppyDriveObj.createObject();
-            if (!description.isNull ())
-                hostFloppyDriveObj->init (Bstr (devNode),
-                                          Bstr (halDevices[i]),
-                                          Bstr (description));
-            else
-                hostFloppyDriveObj->init (Bstr (devNode),
-                                          Bstr (halDevices[i]));
-            list.push_back (hostFloppyDriveObj);
-            if (vendor != NULL)
-                libhal_free_string(vendor);
-            if (product != NULL)
-                libhal_free_string(product);
-            libhal_free_string(devNode);
-        }
-    }
-    if (halDevices != NULL)
-        libhal_free_string_array(halDevices);
-    if (halSuccess)
-        libhal_ctx_shutdown (libhalContext, NULL);
-    if (libhalContext != NULL)
-        libhal_ctx_free (libhalContext);
-    if (dbusConnection != NULL)
-        dbus_connection_unref (dbusConnection);
-    return halSuccess;
-}
-
-# elif defined(RT_OS_SOLARIS) && defined(VBOX_USE_LIBHAL)
+#if defined(RT_OS_SOLARIS) && defined(VBOX_USE_LIBHAL)
 /* Solaris hosts, loading libhal at runtime */
 
@@ -2368 +2133 @@
     return halSuccess;
 }
-#endif  /* VBOX_WITH_HAL and VBOX_USE_HAL */
-
-#if defined(RT_OS_LINUX) || defined(RT_OS_SOLARIS)
+#endif  /* RT_OS_SOLARIS and VBOX_USE_HAL */
+
+#if defined(RT_OS_SOLARIS)
 
 /**
@@ -2534 +2299 @@
     return retValue;
 }
-#endif // RT_OS_LINUX || RT_OS_SOLARIS
+#endif // RT_OS_SOLARIS
 
 #ifdef VBOX_WITH_USB

trunk/src/VBox/Main/Makefile.kmk

@@ -197 +197 @@
         $(if $(VBOX_WITH_RESOURCE_USAGE_API),VBOX_WITH_RESOURCE_USAGE_API,) \
         $(if $(VBOX_WITH_PDM_ASYNC_COMPLETION),VBOX_WITH_PDM_ASYNC_COMPLETION,) \
-        $(if $(VBOX_WITH_LIBHAL),VBOX_WITH_LIBHAL,) \
+        $(if $(VBOX_WITH_DBUS),VBOX_WITH_DBUS,) \
         $(if $(VBOX_USB_WITH_SYSFS),VBOX_USB_WITH_SYSFS,)
 
@@ -301 +301 @@
         win/VBoxSVC.rc
 
+VBoxSVC_SOURCES.linux += \
+        linux/HostHardwareLinux.cpp
+
 VBoxSVC_SOURCES.solaris = \
         linux/vbox-libhal.cpp \
@@ -342 +345 @@
 endif
 
-# libhal stuff for USB
-VBoxSVC_CFLAGS   += $(if $(VBOX_WITH_LIBHAL),$(VBOX_LIBHAL_CFLAGS),)
-VBoxSVC_CXXFLAGS += $(if $(VBOX_WITH_LIBHAL),$(VBOX_LIBHAL_CXXFLAGS),)
-VBoxSVC_LDFLAGS  += $(if $(VBOX_WITH_LIBHAL),$(VBOX_LIBHAL_LDFLAGS),)
+# dbus stuff
+VBoxSVC_CFLAGS   += $(if $(VBOX_WITH_DBUS),$(VBOX_DBUS_CFLAGS),)
+VBoxSVC_CXXFLAGS += $(if $(VBOX_WITH_DBUS),$(VBOX_DBUS_CXXFLAGS),)
+VBoxSVC_LDFLAGS  += $(if $(VBOX_WITH_DBUS),$(VBOX_DBUS_LDFLAGS),)
 
 win/VBoxSVC.rc_INCS  = $(PATH_VBoxSVC)

trunk/src/VBox/Main/include/HostImpl.h

@@ -36 +36 @@
 #ifdef RT_OS_WINDOWS
 # include "win/svchlp.h"
+#endif
+
+#ifdef RT_OS_LINUX
+# include <HostHardwareLinux.h>
 #endif
 
@@ -132 +136 @@
 private:
 
-#if defined(RT_OS_LINUX) || defined(RT_OS_SOLARIS)
-# if defined(VBOX_WITH_LIBHAL) || defined(VBOX_USE_LIBHAL)
+#if defined(RT_OS_SOLARIS)
+# if defined(VBOX_USE_LIBHAL)
     bool getDVDInfoFromHal(std::list <ComObjPtr <HostDVDDrive> > &list);
     bool getFloppyInfoFromHal(std::list <ComObjPtr <HostFloppyDrive> > &list);
@@ -178 +182 @@
 #endif /* VBOX_WITH_USB */
 
+#ifdef RT_OS_LINUX
+    /** Object with information about host drives */
+    VBoxMainDriveInfo mHostDrives;
+#endif
     /* Features that can be queried with GetProcessorFeature */
     BOOL fVTxAMDVSupported, fLongModeSupported, fPAESupported;

trunk/src/VBox/Main/testcase/Makefile.kmk

@@ -33 +33 @@
         $(if $(VBOX_WITH_RESOURCE_USAGE_API),tstCollector,)
   PROGRAMS.linux += \
-        $(if $(VBOX_OSE),,$(if $(VBOX_USB_WITH_SYSFS),tstUSBLinux,))
+        $(if $(VBOX_OSE),,tstHostHardwareLinux)
  endif # !VBOX_WITH_TESTCASES
 endif # !VBOX_ONLY_SDK
@@ -120 +120 @@
 
 #
-# tstUSBLinux
+# tstHostHardwareLinux
 #
-tstUSBLinux_TEMPLATE  = VBOXR3TSTEXE
-tstUSBLinux_SOURCES   = \
-        tstUSBLinux.cpp \
-        ../linux/USBProxyServiceLinux.cpp
-tstUSBLinux_INCS      = . ../include
-tstUSBLinux_DEFS      = \
+tstHostHardwareLinux_TEMPLATE  = VBOXR3TSTEXE
+tstHostHardwareLinux_SOURCES   = \
+        tstHostHardwareLinux.cpp \
+        ../linux/USBProxyServiceLinux.cpp \
+        ../linux/HostHardwareLinux.cpp
+tstHostHardwareLinux_INCS      = . ../include
+tstHostHardwareLinux_DEFS      = \
         VBOX_TEST_USB_LINUX \
         $(if $(VBOX_WITHOUT_LINUX_COMPILER_H),VBOX_WITHOUT_LINUX_COMPILER_H,) \
+        $(if $(VBOX_WITH_DBUS),VBOX_WITH_DBUS,) \
         $(if $(VBOX_USB_WITH_SYSFS),VBOX_USB_WITH_SYSFS,)
-tstUSBLinux_LIBS     += $(PATH_OUT)/lib/USBLib.a
-tstUSBLinux_CFLAGS   += $(if $(VBOX_WITH_LIBHAL),$(VBOX_LIBHAL_CFLAGS),)
-tstUSBLinux_CXXFLAGS += $(if $(VBOX_WITH_LIBHAL),$(VBOX_LIBHAL_CXXFLAGS),)
-tstUSBLinux_LDFLAGS  += $(if $(VBOX_WITH_LIBHAL),$(VBOX_LIBHAL_LDFLAGS),)
+tstHostHardwareLinux_LIBS     += $(PATH_OUT)/lib/USBLib.a
+tstHostHardwareLinux_CFLAGS   += $(if $(VBOX_WITH_DBUS),$(VBOX_DBUS_CFLAGS),)
+tstHostHardwareLinux_CXXFLAGS += $(if $(VBOX_WITH_DBUS),$(VBOX_DBUS_CXXFLAGS),)
+tstHostHardwareLinux_LDFLAGS  += $(if $(VBOX_WITH_DBUS),$(VBOX_DBUS_LDFLAGS),)
 
 

trunk/src/VBox/Main/testcase/tstHostHardwareLinux.cpp

@@ -14 +14 @@
  */
 
-#include "tstUSBLinux.h"
+#ifdef VBOX_USB_WITH_SYSFS
+# include "tstUSBLinux.h"
+#endif
+
+#include <HostHardwareLinux.h>
 
 #include <VBox/err.h>
@@ -27 +31 @@
 {
     RTR3Init();
+#ifdef VBOX_USB_WITH_SYSFS
     USBProxyServiceLinux service;
     service.initSysfs();
@@ -74 +79 @@
         }
     }
+#endif  /* VBOX_USB_WITH_SYSFS */
+    VBoxMainDriveInfo driveInfo;
+    g_testHostHardwareLinux = true;
+    int rc = driveInfo.updateFloppies();
+    if (RT_SUCCESS (rc))
+        rc = driveInfo.updateDVDs();
+    if (RT_FAILURE (rc))
+    {
+        RTPrintf("Failed to update the host drive information, error %Rrc\n",
+                 rc);
+        return 1;
+    }
+    RTPrintf ("Listing floppy drives detected:\n");
+    for (VBoxMainDriveInfo::DriveInfoList::const_iterator it = driveInfo.FloppyBegin();
+         it != driveInfo.FloppyEnd(); ++it)
+    {
+        RTPrintf ("  device: %s", it->mDevice.c_str());
+        if (!it->mUdi.empty())
+            RTPrintf (", udi: %s", it->mUdi.c_str());
+        if (!it->mDescription.empty())
+            RTPrintf (", description: %s", it->mDescription.c_str());
+        RTPrintf ("\n");
+    }
+    RTPrintf ("Listing DVD drives detected:\n");
+    for (VBoxMainDriveInfo::DriveInfoList::const_iterator it = driveInfo.DVDBegin();
+         it != driveInfo.DVDEnd(); ++it)
+    {
+        RTPrintf ("  device: %s", it->mDevice.c_str());
+        if (!it->mUdi.empty())
+            RTPrintf (", udi: %s", it->mUdi.c_str());
+        if (!it->mDescription.empty())
+            RTPrintf (", description: %s", it->mDescription.c_str());
+        RTPrintf ("\n");
+    }
     return 0;
 }

trunk/src/VBox/Main/testcase/tstUSBLinux.h

@@ -24 +24 @@
 
 #ifdef VBOX_USB_WITH_SYSFS
-# include "libhal.h"
+# include <libhal.h>
 #endif