mirror of https://github.com/ArduPilot/ardupilot
76 lines
1.9 KiB
C
76 lines
1.9 KiB
C
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#pragma once
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL && defined(HAL_BUILD_AP_PERIPH)
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#include "AP_HAL_SITL.h"
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#include "AP_HAL_SITL_Namespace.h"
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#include "HAL_SITL_Class.h"
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#include "RCInput.h"
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#include <sys/types.h>
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#include <sys/socket.h>
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#include <netinet/in.h>
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#include <netinet/udp.h>
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#include <arpa/inet.h>
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#include <AP_Baro/AP_Baro.h>
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#include <AP_InertialSensor/AP_InertialSensor.h>
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#include <AP_Compass/AP_Compass.h>
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#include <AP_Terrain/AP_Terrain.h>
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#include <AP_HAL/utility/Socket.h>
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class HAL_SITL;
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class HALSITL::SITL_State {
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friend class HALSITL::Scheduler;
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friend class HALSITL::Util;
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friend class HALSITL::GPIO;
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public:
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void init(int argc, char * const argv[]);
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int gps_pipe(uint8_t index);
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// create a file descriptor attached to a virtual device; type of
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// device is given by name parameter
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int sim_fd(const char *name, const char *arg);
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// returns a write file descriptor for a created virtual device
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int sim_fd_write(const char *name);
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bool use_rtscts(void) const {
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return _use_rtscts;
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}
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uint16_t base_port(void) const {
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return _base_port;
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}
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// simulated airspeed, sonar and battery monitor
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uint16_t sonar_pin_value; // pin 0
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uint16_t airspeed_pin_value; // pin 1
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uint16_t airspeed_2_pin_value; // pin 2
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uint16_t voltage_pin_value; // pin 13
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uint16_t current_pin_value; // pin 12
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uint16_t voltage2_pin_value; // pin 15
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uint16_t current2_pin_value; // pin 14
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// paths for UART devices
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const char *_uart_path[7] {
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"tcp:5860",
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"fifo:/tmp/ap_gps0",
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"tcp:5861",
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"tcp:5862",
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"fifo:/tmp/ap_gps0",
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"tcp:5863",
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"tcp:5864",
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};
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private:
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void wait_clock(uint64_t wait_time_usec);
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bool _use_rtscts;
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uint16_t _base_port;
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const char *defaults_path = HAL_PARAM_DEFAULTS_PATH;
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};
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#endif
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