AP_HAL_Linux: added ConsoleDevice

libraries/AP_HAL_Linux/ConsoleDevice.cpp

@@ -0,0 +1,84 @@
+#include <AP_HAL.h>
+
+#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
+#include "ConsoleDevice.h"
+
+#include <stdio.h>
+#include <errno.h>
+#include <unistd.h>
+#include <fcntl.h>
+
+ConsoleDevice::ConsoleDevice() 
+{
+}
+
+ConsoleDevice::~ConsoleDevice()
+{
+}
+
+bool ConsoleDevice::close()
+{
+    _closed = true;
+
+    return true;
+}
+
+bool ConsoleDevice::open()
+{
+    _rd_fd = STDIN_FILENO;
+    _wr_fd = STDOUT_FILENO;
+
+    _closed = false;
+
+    return true;
+}
+
+ssize_t ConsoleDevice::read(uint8_t *buf, uint16_t n)
+{
+    if (_closed) {
+        return -EAGAIN;
+    }
+
+    return ::read(_rd_fd, buf, n);
+}
+
+ssize_t ConsoleDevice::write(const uint8_t *buf, uint16_t n)
+{
+    if (_closed) {
+        return -EAGAIN;
+    }
+
+    return ::write(_wr_fd, buf, n);
+}
+
+void ConsoleDevice::set_blocking(bool blocking)
+{
+    int rd_flags;
+    int wr_flags;
+   
+    rd_flags  = fcntl(_rd_fd, F_GETFL, 0);
+    wr_flags  = fcntl(_wr_fd, F_GETFL, 0);
+    
+    if (blocking) {
+        rd_flags = rd_flags & ~O_NONBLOCK;
+        wr_flags = wr_flags & ~O_NONBLOCK;
+    } else {
+        rd_flags = rd_flags | O_NONBLOCK;
+        wr_flags = wr_flags | O_NONBLOCK;
+    }
+
+    if (fcntl(_rd_fd, F_SETFL, rd_flags) < 0) {
+        ::fprintf(stderr, "Failed to set Console nonblocking %s\n", strerror(errno));
+    }
+
+    if (fcntl(_wr_fd, F_SETFL, wr_flags) < 0) {
+        ::fprintf(stderr, "Failed to set Console nonblocking %s\n",strerror(errno));
+    }
+
+}
+
+void ConsoleDevice::set_speed(uint32_t baudrate)
+{
+}
+
+#endif

libraries/AP_HAL_Linux/ConsoleDevice.h

@@ -0,0 +1,25 @@
+#ifndef __AP_HAL_LINUX_CONSOLEDEVICE_UDP_H__
+#define __AP_HAL_LINUX_CONSOLEDEVICE_UDP_H__
+
+#include "SerialDevice.h"
+#include "../AP_HAL/utility/Socket.h"
+
+class ConsoleDevice: public SerialDevice {
+public:
+    ConsoleDevice();
+    virtual ~ConsoleDevice();
+
+    virtual bool open() override;
+    virtual bool close() override;
+    virtual ssize_t write(const uint8_t *buf, uint16_t n) override;
+    virtual ssize_t read(uint8_t *buf, uint16_t n) override;
+    virtual void set_blocking(bool blocking) override;
+    virtual void set_speed(uint32_t speed) override;
+
+private:
+    int _rd_fd = -1;
+    int _wr_fd = -1;
+    bool _closed = true;
+};
+
+#endif