ardupilot/libraries/SITL/SIM_SerialDevice.h

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/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
base class for serially-attached simulated devices
*/
#pragma once
#include <unistd.h>
namespace SITL {
class SerialDevice {
public:
SerialDevice();
// return fd on which data from the device can be read
// to the device can be written
int fd() const { return fd_their_end; }
// return fd on which data to the device can be written
int write_fd() const { return read_fd_their_end; }
ssize_t read_from_autopilot(char *buffer, size_t size) const;
ssize_t write_to_autopilot(const char *buffer, size_t size) const;
protected:
class SIM *_sitl;
int fd_their_end;
int fd_my_end;
int read_fd_their_end;
int read_fd_my_end;
bool init_sitl_pointer();
};
}