2016-02-17 21:25:28 -04:00
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#pragma once
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2012-12-18 21:13:01 -04:00
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2015-08-11 03:28:43 -03:00
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#include <AP_HAL/AP_HAL.h>
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2015-05-04 03:15:12 -03:00
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#include "AP_HAL_SITL_Namespace.h"
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2018-08-07 03:39:42 -03:00
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#include "AP_HAL_SITL.h"
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2015-12-20 16:33:11 -04:00
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#include "Semaphores.h"
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2019-03-19 23:19:41 -03:00
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#include "ToneAlarm_SF.h"
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2012-12-18 21:13:01 -04:00
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2016-01-10 02:23:32 -04:00
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class HALSITL::Util : public AP_HAL::Util {
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2012-12-18 21:13:01 -04:00
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public:
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2016-01-10 02:23:32 -04:00
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Util(SITL_State *_sitlState) :
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2016-01-06 18:09:40 -04:00
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sitlState(_sitlState) {}
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2018-11-07 06:59:48 -04:00
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bool run_debug_shell(AP_HAL::BetterStream *stream) override {
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2015-05-04 21:59:07 -03:00
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return false;
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}
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2015-11-05 00:41:46 -04:00
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/**
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how much free memory do we have in bytes.
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*/
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uint32_t available_memory(void) override {
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// SITL is assumed to always have plenty of memory. Return 128k for now
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return 0x20000;
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}
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2015-12-20 16:33:11 -04:00
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2016-01-06 18:09:40 -04:00
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// get path to custom defaults file for AP_Param
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const char* get_custom_defaults_file() const override {
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return sitlState->defaults_path;
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}
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2018-04-24 09:25:25 -03:00
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uint64_t get_hw_rtc() const override;
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2018-11-16 17:32:38 -04:00
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bool get_system_id(char buf[40]) override;
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bool get_system_id_unformatted(uint8_t buf[], uint8_t &len) override;
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2018-12-08 22:34:54 -04:00
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#ifdef ENABLE_HEAP
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// heap functions, note that a heap once alloc'd cannot be dealloc'd
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virtual void *allocate_heap_memory(size_t size);
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virtual void *heap_realloc(void *heap, void *ptr, size_t new_size);
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#endif // ENABLE_HEAP
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2019-03-19 23:19:41 -03:00
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#ifdef WITH_SITL_TONEALARM
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bool toneAlarm_init() override { return _toneAlarm.init(); }
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void toneAlarm_set_buzzer_tone(float frequency, float volume, uint32_t duration_ms) override {
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_toneAlarm.set_buzzer_tone(frequency, volume, duration_ms);
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}
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#endif
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2019-05-09 05:48:37 -03:00
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// return true if the reason for the reboot was a watchdog reset
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bool was_watchdog_reset() const override { return getenv("SITL_WATCHDOG_RESET") != nullptr; }
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2016-01-06 18:09:40 -04:00
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private:
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SITL_State *sitlState;
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2018-12-08 22:34:54 -04:00
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2019-03-19 23:19:41 -03:00
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#ifdef WITH_SITL_TONEALARM
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static ToneAlarm_SF _toneAlarm;
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#endif
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2018-12-08 22:34:54 -04:00
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#ifdef ENABLE_HEAP
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struct heap_allocation_header {
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size_t allocation_size; // size of allocated block, not including this header
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};
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struct heap {
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size_t scripting_max_heap_size;
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size_t current_heap_usage;
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};
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#endif // ENABLE_HEAP
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2012-12-18 21:13:01 -04:00
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};
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