ardupilot/libraries/AP_HAL_SITL/HAL_SITL_Class.h

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#pragma once
#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#include "AP_HAL_SITL.h"
#include "AP_HAL_SITL_Namespace.h"
#include "SITL_State.h"
class HAL_SITL : public AP_HAL::HAL {
public:
HAL_SITL();
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void run(int argc, char * const argv[], Callbacks* callbacks) const override;
static void actually_reboot();
void set_storage_posix_enabled(bool _enabled) {
storage_posix_enabled = _enabled;
}
bool get_storage_posix_enabled() const { return storage_posix_enabled; }
void set_storage_flash_enabled(bool _enabled) {
storage_flash_enabled = _enabled;
}
bool get_storage_flash_enabled() const { return storage_flash_enabled; }
void set_storage_fram_enabled(bool _enabled) {
storage_fram_enabled = _enabled;
}
bool get_storage_fram_enabled() const { return storage_fram_enabled; }
/*
instructs the simulation to wipe any storage as it opens it:
*/
void set_wipe_storage(bool _wipe_storage) {
wipe_storage = _wipe_storage;
}
bool get_wipe_storage() const { return wipe_storage; }
uint8_t get_instance() const;
#if defined(HAL_BUILD_AP_PERIPH)
bool run_in_maintenance_mode() const;
#endif
private:
HALSITL::SITL_State *_sitl_state;
void setup_signal_handlers() const;
static void exit_signal_handler(int);
bool storage_posix_enabled;
bool storage_flash_enabled;
bool storage_fram_enabled;
// set to true if simulation is to wipe storage as it is opened:
bool wipe_storage;
};
#if HAL_NUM_CAN_IFACES
typedef HALSITL::CANIface HAL_CANIface;
#endif
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#endif // CONFIG_HAL_BOARD == HAL_BOARD_SITL