ardupilot/libraries/AP_HAL_SMACCM/Console.h

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/*
* Console.h --- AP_HAL_SMACCM console driver.
*
* Copyright (C) 2012, Galois, Inc.
* All Rights Reserved.
*
* This software is released under the "BSD3" license. Read the file
* "LICENSE" for more information.
*/
#ifndef __AP_HAL_SMACCM_CONSOLE_H__
#define __AP_HAL_SMACCM_CONSOLE_H__
#include <AP_HAL_SMACCM.h>
class SMACCM::SMACCMConsoleDriver : public AP_HAL::ConsoleDriver {
public:
SMACCMConsoleDriver(AP_HAL::BetterStream* delegate);
void init(void *arg);
void backend_open();
void backend_close();
size_t backend_read(uint8_t *data, size_t len);
size_t backend_write(const uint8_t *data, size_t len);
void print_P(const prog_char_t *pstr);
void println_P(const prog_char_t *pstr);
void printf(const char *pstr, ...);
void _printf_P(const prog_char *pstr, ...);
void vprintf(const char *pstr, va_list ap);
void vprintf_P(const prog_char *pstr, va_list ap);
int16_t available();
int16_t txspace();
int16_t read();
size_t write(uint8_t c);
private:
AP_HAL::BetterStream *_d;
// Buffer implementation copied from the AVR HAL.
struct Buffer {
/* public methods:*/
bool allocate(uint16_t size);
bool push(uint8_t b);
int16_t pop();
uint16_t bytes_free();
uint16_t bytes_used();
private:
uint16_t _head, _tail; /* Head and tail indicies */
uint16_t _mask; /* Buffer size mask for index wrap */
uint8_t *_bytes; /* Pointer to allocated buffer */
};
Buffer _txbuf;
Buffer _rxbuf;
bool _user_backend;
};
#endif // __AP_HAL_SMACCM_CONSOLE_H__