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AP_HAL_SITL: add option to create uart connection to file

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Peter Barker 2020-02-21 13:41:38 +11:00 committed by Peter Barker
parent 2c990f9e1c
commit c728483a7e
1 changed files with 12 additions and 0 deletions
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12
libraries/AP_HAL_SITL/UARTDriver.cpp
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@ -44,6 +44,7 @@
#endif #endif
#include <AP_Vehicle/AP_Vehicle_Type.h> #include <AP_Vehicle/AP_Vehicle_Type.h>
#include <AP_Filesystem/AP_Filesystem.h>
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
@ -85,6 +86,7 @@ void UARTDriver::begin(uint32_t baud, uint16_t rxSpace, uint16_t txSpace)
mcast:239.255.145.50:14550 mcast:239.255.145.50:14550
uart:/dev/ttyUSB0:57600 uart:/dev/ttyUSB0:57600
sim:ParticleSensor_SDS021: sim:ParticleSensor_SDS021:
file:/tmp/my-device-capture.BIN
*/ */
char *saveptr = nullptr; char *saveptr = nullptr;
char *s = strdup(path); char *s = strdup(path);
@ -153,6 +155,16 @@ void UARTDriver::begin(uint32_t baud, uint16_t rxSpace, uint16_t txSpace)
} else if (strcmp(devtype,"none") == 0) { } else if (strcmp(devtype,"none") == 0) {
// skipping port // skipping port
::printf("Skipping port %s\n", args1); ::printf("Skipping port %s\n", args1);
} else if (strcmp(devtype, "file") == 0) {
if (_connected) {
AP::FS().close(_fd);
}
::printf("FILE connection %s\n", args1);
_fd = AP::FS().open(args1, O_RDONLY);
if (_fd == -1) {
AP_HAL::panic("Failed to open (%s): %m", args1);
}
_connected = true;
} else { } else {
AP_HAL::panic("Invalid device path: %s", path); AP_HAL::panic("Invalid device path: %s", path);
} }