ardupilot/libraries/AP_HAL/Util.h

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#ifndef __AP_HAL_UTIL_H__
#define __AP_HAL_UTIL_H__
#include <stdarg.h>
#include "AP_HAL_Namespace.h"
#include <AP_Progmem.h>
class AP_HAL::Util {
public:
// soft_armed starts out true
Util() : soft_armed(true) {}
int snprintf(char* str, size_t size,
const char *format, ...);
int snprintf_P(char* str, size_t size,
const prog_char_t *format, ...);
int vsnprintf(char* str, size_t size,
const char *format, va_list ap);
int vsnprintf_P(char* str, size_t size,
const prog_char_t *format, va_list ap);
void set_soft_armed(const bool b) { soft_armed = b; }
bool get_soft_armed() const { return soft_armed; }
// run a debug shall on the given stream if possible. This is used
// to support dropping into a debug shell to run firmware upgrade
// commands
virtual bool run_debug_shell(AP_HAL::BetterStream *stream) = 0;
enum safety_state {
SAFETY_NONE, SAFETY_DISARMED, SAFETY_ARMED
};
/*
return state of safety switch, if applicable
*/
virtual enum safety_state safety_switch_state(void) { return SAFETY_NONE; }
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/*
set system clock in UTC microseconds
*/
virtual void set_system_clock(uint64_t time_utc_usec) {}
/*
get system identifier (eg. serial number)
return false if a system identifier is not available
Buf should be filled with a printable string and must be null
terminated
*/
virtual bool get_system_id(char buf[40]) { return false; }
/**
how much free memory do we have in bytes. If more than 0xFFFF
then return 0xFFFF. If unknown return 4096
*/
virtual uint16_t available_memory(void) { return 4096; }
/**
return commandline arguments, if available
*/
virtual void commandline_arguments(uint8_t &argc, char * const *&argv) { argc = 0; }
/*
ToneAlarm Driver
*/
virtual bool toneAlarm_init() { return false;}
virtual void toneAlarm_set_tune(uint8_t tune) {}
virtual void _toneAlarm_timer_tick() {}
protected:
bool soft_armed;
};
#endif // __AP_HAL_UTIL_H__