ardupilot/libraries/AP_HAL_VRBRAIN/Util.h

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#pragma once
#include <AP_HAL/AP_HAL.h>
#include "AP_HAL_VRBRAIN_Namespace.h"
#include "Semaphores.h"
class VRBRAIN::NSHShellStream : public AP_HAL::BetterStream {
public:
size_t write(uint8_t);
size_t write(const uint8_t *buffer, size_t size);
int16_t read() override;
uint32_t available() override;
uint32_t txspace() override;
private:
int shell_stdin = -1;
int shell_stdout = -1;
pthread_t shell_thread_ctx;
struct {
int in = -1;
int out = -1;
} child;
bool showed_memory_warning = false;
bool showed_armed_warning = false;
void start_shell(void);
static void shell_thread(void *arg);
};
class VRBRAIN::VRBRAINUtil : public AP_HAL::Util {
public:
VRBRAINUtil(void);
bool run_debug_shell(AP_HAL::BetterStream *stream);
enum safety_state safety_switch_state(void);
/*
get system identifier (STM32 serial number)
*/
bool get_system_id(char buf[40]);
uint32_t available_memory(void) override;
/*
return a stream for access to nsh shell
*/
AP_HAL::BetterStream *get_shell_stream() { return &_shell_stream; }
perf_counter_t perf_alloc(perf_counter_type t, const char *name) override;
void perf_begin(perf_counter_t ) override;
void perf_end(perf_counter_t) override;
void perf_count(perf_counter_t) override;
// create a new semaphore
AP_HAL::Semaphore *new_semaphore(void) override { return new VRBRAIN::Semaphore; }
void set_imu_temp(float current) override;
void set_imu_target_temp(int8_t *target) override;
// allocate and free DMA-capable memory if possible. Otherwise return normal memory
void *malloc_type(size_t size, AP_HAL::Util::Memory_Type mem_type) override;
void free_type(void *ptr, size_t size, AP_HAL::Util::Memory_Type mem_type) override;
private:
int _safety_handle;
VRBRAIN::NSHShellStream _shell_stream;
struct {
int8_t *target;
float integrator;
uint16_t count;
float sum;
uint32_t last_update_ms;
int fd = -1;
} _heater;
};