ardupilot/libraries/AP_HAL/Util.cpp

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#include "AP_HAL.h"
#include "Util.h"
#include "utility/print_vprintf.h"
#if defined(__APPLE__) && defined(__MACH__)
#include <sys/time.h>
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#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
#include "ch.h"
#include "hal.h"
#else
#include <time.h>
#endif
#include <AP_InternalError/AP_InternalError.h>
#include <AP_Math/AP_Math.h>
/* Helper class implements AP_HAL::Print so we can use utility/vprintf */
class BufferPrinter : public AP_HAL::BetterStream {
public:
BufferPrinter(char* str, size_t size) :
_offs(0), _str(str), _size(size) {}
size_t write(uint8_t c) override {
if (_offs < _size) {
_str[_offs] = c;
}
_offs++;
return 1;
}
size_t write(const uint8_t *buffer, size_t size) override {
size_t n = 0;
while (size--) {
n += write(*buffer++);
}
return n;
}
size_t _offs;
char* const _str;
const size_t _size;
uint32_t available() override { return 0; }
bool read(uint8_t &b) override { return false; }
uint32_t txspace() override { return 0; }
bool discard_input() override { return false; }
};
int AP_HAL::Util::snprintf(char* str, size_t size, const char *format, ...)
{
va_list ap;
va_start(ap, format);
int res = vsnprintf(str, size, format, ap);
va_end(ap);
return res;
}
int AP_HAL::Util::vsnprintf(char* str, size_t size, const char *format, va_list ap)
{
// note that size==0 must be handled as functions like vasprintf() rely on the return
// value being the number of bytes that would be printed if there was enough space.
BufferPrinter buf(str, size?size-1:0);
print_vprintf(&buf, format, ap);
// null terminate
size_t ret = buf._offs;
if (ret < size) {
// if the string did fit then nul terminate
str[ret] = '\0';
} else if (size > 0) {
// if it didn't fit then terminate using passed in size
str[size-1] = 0;
}
return int(ret);
}
void AP_HAL::Util::set_soft_armed(const bool b)
{
if (b != soft_armed) {
soft_armed = b;
last_armed_change_ms = AP_HAL::millis();
if (!was_watchdog_reset()) {
persistent_data.armed = b;
}
}
}