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SITL: removed GPS FIFO

This commit is contained in:
Andrew Tridgell 2023-08-18 06:16:53 +10:00 committed by Peter Barker
parent c151d9bc3d
commit 791d0acefe
2 changed files with 1 additions and 44 deletions
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34
libraries/SITL/SIM_GPS.cpp
View File

@ -20,15 +20,6 @@
#include <AP_Common/NMEA.h>
#include <AP_HAL/utility/sparse-endian.h>
// simulated CAN GPS devices get fed from our SITL estimates:
#if HAL_SIM_GPS_EXTERNAL_FIFO_ENABLED
#include <sys/types.h>
#include <sys/stat.h>
#include <errno.h>
#include <AP_HAL_SITL/AP_HAL_SITL.h>
extern const HAL_SITL& hal_sitl;
#endif
// the number of GPS leap seconds - copied from AP_GPS.h
#define GPS_LEAPSECONDS_MILLIS 18000ULL
@ -77,22 +68,6 @@ GPS::GPS(uint8_t _instance) :
SerialDevice(8192, 2048),
instance{_instance}
{
#if HAL_SIM_GPS_EXTERNAL_FIFO_ENABLED
const uint8_t num_gps = 2;
// pipe number is SITL instance number (e.g. -I argument to
// sim_vehicle.py) times the max number of GPSs + the gps instance
// number:
const uint8_t num = num_gps * hal_sitl.get_instance() + instance;
if (asprintf(&_gps_fifo, "/tmp/gps_fifo%u", (unsigned)num) == -1) { // FIXME - needs to work with simulated periph-gps
AP_BoardConfig::allocation_error("gps_fifo filepath");
}
if (mkfifo(_gps_fifo, 0666) < 0) {
if (errno != EEXIST) {
printf("MKFIFO failed with %m\n");
}
}
#endif
}
uint32_t GPS::device_baud() const
@ -116,15 +91,6 @@ ssize_t GPS::write_to_autopilot(const char *p, size_t size) const
return -1;
}
#if HAL_SIM_GPS_EXTERNAL_FIFO_ENABLED
// also write to external fifo
int fd = open(_gps_fifo, O_WRONLY | O_NONBLOCK);
if (fd >= 0) {
UNUSED_RESULT(write(fd, p, size));
close(fd);
}
#endif
const float byteloss = _sitl->gps_byteloss[instance];
// shortcut if we're not doing byteloss:

11
libraries/SITL/SIM_GPS.h
View File

@ -26,15 +26,11 @@ param set SERIAL5_PROTOCOL 5
#include <AP_HAL/AP_HAL_Boards.h>
#ifndef HAL_SIM_GPS_ENABLED
#define HAL_SIM_GPS_ENABLED (AP_SIM_ENABLED && !defined(HAL_BUILD_AP_PERIPH))
#define HAL_SIM_GPS_ENABLED AP_SIM_ENABLED
#endif
#if HAL_SIM_GPS_ENABLED
#ifndef HAL_SIM_GPS_EXTERNAL_FIFO_ENABLED
#define HAL_SIM_GPS_EXTERNAL_FIFO_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL) && !defined(CYGWIN_BUILD)
#endif
#ifndef AP_SIM_GPS_FILE_ENABLED
// really need to use AP_FileSystem for this.
#define AP_SIM_GPS_FILE_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX)
@ -246,11 +242,6 @@ private:
// last 20 samples, allowing for up to 20 samples of delay
GPS_Data _gps_history[20];
#if HAL_SIM_GPS_EXTERNAL_FIFO_ENABLED
// this will be allocated if needed:
char *_gps_fifo;
#endif
bool _gps_has_basestation_position;
GPS_Data _gps_basestation_data;