ardupilot/libraries/AP_HAL_SITL/SITL_Periph_State.cpp

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#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL && defined(HAL_BUILD_AP_PERIPH)
#include "AP_HAL_SITL.h"
#include "AP_HAL_SITL_Namespace.h"
#include "HAL_SITL_Class.h"
#include "UARTDriver.h"
#include "Scheduler.h"
#include <stdio.h>
#include <signal.h>
#include <unistd.h>
#include <stdlib.h>
#include <errno.h>
#include <sys/select.h>
#include <AP_Param/AP_Param.h>
#include <SITL/SIM_JSBSim.h>
#include <AP_HAL/utility/Socket.h>
#include <AP_HAL/utility/getopt_cpp.h>
extern const AP_HAL::HAL& hal;
using namespace HALSITL;
void SITL_State::init(int argc, char * const argv[]) {
int opt;
const struct GetOptLong::option options[] = {
{"help", false, 0, 'h'},
{"instance", true, 0, 'I'},
{"maintenance", false, 0, 'M'},
};
setvbuf(stdout, (char *)0, _IONBF, 0);
setvbuf(stderr, (char *)0, _IONBF, 0);
GetOptLong gopt(argc, argv, "hI:M",
options);
while((opt = gopt.getoption()) != -1) {
switch (opt) {
case 'I':
_instance = atoi(gopt.optarg);
break;
case 'M':
printf("Running in Maintenance Mode\n");
_maintenance = true;
break;
default:
printf("Options:\n"
"\t--help|-h display this help information\n"
"\t--instance|-I N set instance of SITL Periph\n"
"\t--maintenance|-M run in maintenance mode\n");
exit(1);
}
}
printf("Running Instance: %d\n", _instance);
}
void SITL_State::wait_clock(uint64_t wait_time_usec) {
while (AP_HAL::native_micros64() < wait_time_usec) {
usleep(1000);
}
}
// when Periph can use SITL simulated devices we should remove these
// stubs:
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ssize_t SITL::SerialDevice::read_from_device(char*, size_t) const { return -1; }
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ssize_t SITL::SerialDevice::write_to_device(char const*, size_t) const { return -1; }
#endif //CONFIG_HAL_BOARD == HAL_BOARD_SITL && defined(HAL_BUILD_AP_PERIPH)