ardupilot/libraries/AP_HAL_Linux/Util.h

#pragma once

#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>

#include "Heat.h"
#include "Perf.h"
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
#include "ToneAlarm_Raspilot.h"
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
#include "ToneAlarm_Disco.h"
#endif
#include "ToneAlarm.h"
#include "Semaphores.h"

namespace Linux {

enum hw_type {
    UTIL_HARDWARE_RPI1 = 0,
    UTIL_HARDWARE_RPI2,
    UTIL_HARDWARE_BEBOP,
    UTIL_HARDWARE_BEBOP2,
    UTIL_HARDWARE_DISCO,
    UTIL_NUM_HARDWARES,
};

class Util : public AP_HAL::Util {
public:
    static Util *from(AP_HAL::Util *util) {
        return static_cast<Util*>(util);
    }

    void init(int argc, char *const *argv);
    bool run_debug_shell(AP_HAL::BetterStream *stream) { return false; }

    /**
       return commandline arguments, if available
     */
    void commandline_arguments(uint8_t &argc, char * const *&argv);

    bool toneAlarm_init();
    void toneAlarm_set_tune(uint8_t tune);

    void _toneAlarm_timer_tick();

    /*
      set system clock in UTC microseconds
     */
    void set_system_clock(uint64_t time_utc_usec);
    const char *get_custom_log_directory() const override final { return custom_log_directory; }
    const char *get_custom_terrain_directory() const override final { return custom_terrain_directory; }

    void set_custom_log_directory(const char *_custom_log_directory) { custom_log_directory = _custom_log_directory; }
    void set_custom_terrain_directory(const char *_custom_terrain_directory) { custom_terrain_directory = _custom_terrain_directory; }

    bool is_chardev_node(const char *path);
    void set_imu_temp(float current) override;
    void set_imu_target_temp(int8_t *target) override;

    uint32_t available_memory(void) override;

    /*
     * Write a string as specified by @fmt to the file in @path. Note this
     * should not be used on hot path since it will open, write and close the
     * file for each call.
     */
    int write_file(const char *path, const char *fmt, ...) FMT_PRINTF(3, 4);

    /*
     * Read a string as specified by @fmt from the file in @path. Note this
     * should not be used on hot path since it will open, read and close the
     * file for each call.
     */
    int read_file(const char *path, const char *fmt, ...) FMT_SCANF(3, 4);

    perf_counter_t perf_alloc(enum perf_counter_type t, const char *name) override
    {
        return Perf::get_instance()->add(t, name);
    }

    void perf_begin(perf_counter_t perf) override
    {
        return Perf::get_instance()->begin(perf);
    }

    void perf_end(perf_counter_t perf) override
    {
        return Perf::get_instance()->end(perf);
    }

    void perf_count(perf_counter_t perf) override
    {
        return Perf::get_instance()->count(perf);
    }

    // create a new semaphore
    AP_HAL::Semaphore *new_semaphore(void) override { return new Semaphore; }

    int get_hw_arm32();

private:
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
    static ToneAlarm_Raspilot _toneAlarm;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
    static ToneAlarm_Disco _toneAlarm;
#else
    static ToneAlarm _toneAlarm;
#endif
    int saved_argc;
    Heat *_heat;
    char *const *saved_argv;
    const char *custom_log_directory = nullptr;
    const char *custom_terrain_directory = nullptr;
    static const char *_hw_names[UTIL_NUM_HARDWARES];
};

}