Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

HAL_SITL: allow override of serial devices in SITL periph

Browse Source
This commit is contained in:
Andrew Tridgell 2023-07-06 14:25:48 +10:00
parent fca6f2cba2
commit 6e952bae17
1 changed files with 61 additions and 13 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

74
libraries/AP_HAL_SITL/SITL_Periph_State.cpp
View File

@ -24,12 +24,35 @@ extern const AP_HAL::HAL& hal;
using namespace HALSITL;
enum long_options {
CMDLINE_SERIAL0=1,
CMDLINE_SERIAL1,
CMDLINE_SERIAL2,
CMDLINE_SERIAL3,
CMDLINE_SERIAL4,
CMDLINE_SERIAL5,
CMDLINE_SERIAL6,
CMDLINE_SERIAL7,
CMDLINE_SERIAL8,
CMDLINE_SERIAL9,
};
void SITL_State::init(int argc, char * const argv[]) {
int opt;
const struct GetOptLong::option options[] = {
{"help", false, 0, 'h'},
{"instance", true, 0, 'I'},
{"maintenance", false, 0, 'M'},
{"serial0", true, 0, CMDLINE_SERIAL0},
{"serial1", true, 0, CMDLINE_SERIAL1},
{"serial2", true, 0, CMDLINE_SERIAL2},
{"serial3", true, 0, CMDLINE_SERIAL3},
{"serial4", true, 0, CMDLINE_SERIAL4},
{"serial5", true, 0, CMDLINE_SERIAL5},
{"serial6", true, 0, CMDLINE_SERIAL6},
{"serial7", true, 0, CMDLINE_SERIAL7},
{"serial8", true, 0, CMDLINE_SERIAL8},
{"serial9", true, 0, CMDLINE_SERIAL9},
{0, false, 0, 0}
};
@ -41,19 +64,44 @@ void SITL_State::init(int argc, char * const argv[]) {
while((opt = gopt.getoption()) != -1) {
switch (opt) {
case 'I':
_instance = atoi(gopt.optarg);
break;
case 'M':
printf("Running in Maintenance Mode\n");
_maintenance = true;
break;
default:
printf("Options:\n"
"\t--help|-h display this help information\n"
"\t--instance|-I N set instance of SITL Periph\n"
"\t--maintenance|-M run in maintenance mode\n");
exit(1);
case 'I':
_instance = atoi(gopt.optarg);
break;
case 'M':
printf("Running in Maintenance Mode\n");
_maintenance = true;
break;
case CMDLINE_SERIAL0:
case CMDLINE_SERIAL1:
case CMDLINE_SERIAL2:
case CMDLINE_SERIAL3:
case CMDLINE_SERIAL4:
case CMDLINE_SERIAL5:
case CMDLINE_SERIAL6:
case CMDLINE_SERIAL7:
case CMDLINE_SERIAL8:
case CMDLINE_SERIAL9: {
static const uint8_t mapping[] = { 0, 2, 3, 1, 4, 5, 6, 7, 8, 9 };
_uart_path[mapping[opt - CMDLINE_SERIAL0]] = gopt.optarg;
break;
}
default:
printf("Options:\n"
"\t--help|-h display this help information\n"
"\t--instance|-I N set instance of SITL Periph\n"
"\t--maintenance|-M run in maintenance mode\n"
"\t--serial0 device set device string for SERIAL0\n"
"\t--serial1 device set device string for SERIAL1\n"
"\t--serial2 device set device string for SERIAL2\n"
"\t--serial3 device set device string for SERIAL3\n"
"\t--serial4 device set device string for SERIAL4\n"
"\t--serial5 device set device string for SERIAL5\n"
"\t--serial6 device set device string for SERIAL6\n"
"\t--serial7 device set device string for SERIAL7\n"
"\t--serial8 device set device string for SERIAL8\n"
"\t--serial9 device set device string for SERIAL9\n"
);
exit(1);
}
}