AP_HAL_VRBRAIN: implement HAL::run()

libraries/AP_HAL_VRBRAIN/AP_HAL_VRBRAIN_Main.h

@@ -6,7 +6,8 @@
 #define AP_HAL_MAIN() \
     extern "C" __EXPORT int SKETCH_MAIN(int argc, char * const argv[]); \
     int SKETCH_MAIN(int argc, char * const argv[]) {	\
-	hal.init(argc, argv); \
+        AP_HAL::HAL::FunCallbacks callbacks(setup, loop); \
+        hal.run(argc, argv, &callbacks); \
 	return OK; \
     }
 

libraries/AP_HAL_VRBRAIN/HAL_VRBRAIN_Class.cpp

@@ -4,6 +4,8 @@
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
 
+#include <assert.h>
+
 #include "AP_HAL_VRBRAIN.h"
 #include "AP_HAL_VRBRAIN_Namespace.h"
 #include "HAL_VRBRAIN_Class.h"
@@ -339,6 +341,13 @@ void HAL_VRBRAIN::init(int argc, char * const argv[]) const
     exit(1);
 }
 
+void HAL_VRBRAIN::run(int argc, char * const argv[], Callbacks* callbacks) const
+{
+    assert(callbacks);
+    g_callbacks = callbacks;
+    init(argc, argv);
+}
+
 const AP_HAL::HAL& AP_HAL::get_HAL() {
     static const HAL_VRBRAIN hal_vrbrain;
     return hal_vrbrain;

libraries/AP_HAL_VRBRAIN/HAL_VRBRAIN_Class.h

@@ -15,6 +15,7 @@ class HAL_VRBRAIN : public AP_HAL::HAL {
 public:
     HAL_VRBRAIN();
     void init(int argc, char * const argv[]) const;
+    void run(int argc, char* const argv[], Callbacks* callbacks) const override;
 };
 
 extern const HAL_VRBRAIN AP_HAL_VRBRAIN;