ardupilot/libraries/AP_HAL_SITL/HAL_SITL_Class.h

#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();
    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

    uint32_t get_uart_output_full_queue_count() const;

private:
    HALSITL::SITL_State *_sitl_state;

    void setup_signal_handlers() const;
    static void exit_signal_handler(int);

    bool storage_posix_enabled = true;
    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

#endif  // CONFIG_HAL_BOARD == HAL_BOARD_SITL