AP_HAL_Empty: finished up scaffolding

libraries/AP_HAL_Empty/AnalogIn.cpp

@@ -25,11 +25,11 @@ EmptyAnalogIn::EmptyAnalogIn()
 void EmptyAnalogIn::init(void* machtnichts)
 {}
 
-AP_HAL::AnalogSource* channel(int16_t n) {
+AP_HAL::AnalogSource* EmptyAnalogIn::channel(int16_t n) {
     return new EmptyAnalogSource(1.11);
 }
 
-AP_HAL::AnalogSource* channel(int16_t n, float scale) {
+AP_HAL::AnalogSource* EmptyAnalogIn::channel(int16_t n, float scale) {
     return new EmptyAnalogSource(scale/2);
 }
 

libraries/AP_HAL_Empty/Console.cpp

@@ -0,0 +1,68 @@
+#include <stdarg.h>
+#include "Console.h"
+
+using namespace Empty;
+
+EmptyConsoleDriver::EmptyConsoleDriver(AP_HAL::BetterStream* delegate) :
+    _d(delegate)
+{}
+
+void EmptyConsoleDriver::init(void* machtnichts)
+{}
+
+void EmptyConsoleDriver::backend_open()
+{}
+
+void EmptyConsoleDriver::backend_close()
+{}
+
+size_t EmptyConsoleDriver::backend_read(uint8_t *data, size_t len) {
+    return 0;
+}
+
+size_t EmptyConsoleDriver::backend_write(const uint8_t *data, size_t len) {
+    return 0;
+}
+
+void EmptyConsoleDriver::print_P(const prog_char_t *pstr) {
+    _d->print_P(pstr);
+}
+
+void EmptyConsoleDriver::println_P(const prog_char_t *pstr) {
+    _d->println_P(pstr);
+}
+
+void EmptyConsoleDriver::printf(const char *pstr, ...) {
+    va_list ap;
+    va_start(ap, pstr);
+    _d->printf(pstr, ap);
+    va_end(ap);
+}
+
+void EmptyConsoleDriver::_printf_P(const prog_char *pstr, ...) {
+    va_list ap;
+    va_start(ap, pstr);
+    _d->printf_P(pstr, ap);
+    va_end(ap);
+}
+
+int16_t EmptyConsoleDriver::available() {
+    return _d->available();
+}
+
+int16_t EmptyConsoleDriver::txspace() {
+    return _d->txspace();
+}
+
+int16_t EmptyConsoleDriver::read() {
+    return _d->read();
+}
+
+int16_t EmptyConsoleDriver::peek() {
+    return _d->peek();
+}
+
+size_t EmptyConsoleDriver::write(uint8_t c) {
+    return _d->write(c);
+}
+

libraries/AP_HAL_Empty/Console.h

@@ -5,7 +5,27 @@
 #include <AP_HAL_Empty.h>
 
 class Empty::EmptyConsoleDriver : public AP_HAL::ConsoleDriver {
+public:
+    EmptyConsoleDriver(AP_HAL::BetterStream* delegate);
+    void init(void* machtnichts);
+    void backend_open();
+    void backend_close();
+    size_t backend_read(uint8_t *data, size_t len);
+    size_t backend_write(const uint8_t *data, size_t len);
 
+    void print_P(const prog_char_t *pstr);
+    void println_P(const prog_char_t *pstr);
+    void printf(const char *pstr, ...);
+    void _printf_P(const prog_char *pstr, ...);
+
+    int16_t available();
+    int16_t txspace();
+    int16_t read();
+    int16_t peek();
+
+    size_t write(uint8_t c);
+private:
+    AP_HAL::BetterStream *_d;
 };
 
 #endif // __AP_HAL_EMPTY_CONSOLE_H__

libraries/AP_HAL_Empty/GPIO.cpp

@@ -21,7 +21,7 @@ void EmptyGPIO::write(uint8_t pin, uint8_t value)
 {}
 
 /* Alternative interface: */
-AP_HAL::DigitalSource* channel(uint16_t n) {
+AP_HAL::DigitalSource* EmptyGPIO::channel(uint16_t n) {
     return new EmptyDigitalSource(0);
 }
 

libraries/AP_HAL_Empty/HAL_Empty_Class.cpp

@@ -13,10 +13,11 @@ static EmptyI2CDriver  i2cDriver;
 static EmptySPIDeviceManager spiDeviceManager;
 static EmptyAnalogIn analogIn;
 static EmptyStorage storageDriver;
+static EmptyConsoleDriver consoleDriver(&uartADriver);
 static EmptyGPIO gpioDriver;
 static EmptyRCInput rcinDriver;
 static EmptyRCOutput rcoutDriver;
-static EmptyScheduler scheduler;
+static EmptyScheduler schedulerInstance;
 
 HAL_Empty::HAL_Empty() :
     AP_HAL::HAL(
@@ -27,16 +28,21 @@ HAL_Empty::HAL_Empty() :
         &spiDeviceManager,
         &analogIn,
         &storageDriver,
+        &consoleDriver,
         &gpioDriver,
         &rcinDriver,
         &rcoutDriver,
-        &scheduler ),
-    _priv(new EmptyPrivateMember(123))
+        &schedulerInstance),
+    _member(new EmptyPrivateMember(123))
 {}
 
-void HAL_Empty::init(int argc, const char * argv[]) const {
-    uartA->init();    
-    _priv->init();
+void HAL_Empty::init(int argc,char* const argv[]) const {
+    /* initialize all drivers and private members here.
+     * up to the programmer to do this in the correct order.
+     * Scheduler should likely come first. */
+    scheduler->init(NULL);
+    uartA->begin(115200);
+    _member->init();
 }
 
 const HAL_Empty AP_HAL_Empty;

libraries/AP_HAL_Empty/RCInput.cpp

@@ -0,0 +1,38 @@
+
+#include "RCInput.h"
+
+using namespace Empty;
+EmptyRCInput::EmptyRCInput()
+{}
+
+void EmptyRCInput::init(void* machtnichts)
+{}
+
+uint8_t EmptyRCInput::valid() {
+    return 0;
+}
+
+uint16_t EmptyRCInput::read(uint8_t ch) {
+    if (ch == 3) return 900; /* throttle should be low, for safety */
+    else return 1500;
+}
+
+uint8_t EmptyRCInput::read(uint16_t* periods, uint8_t len) {
+    for (uint8_t i = 0; i < len; i++){
+        if (i == 3) periods[i] = 900;
+        else periods[i] = 1500;
+    }
+    return len;
+}
+
+bool EmptyRCInput::set_overrides(int16_t *overrides, uint8_t len) {
+    return true;
+}
+
+bool EmptyRCInput::set_override(uint8_t channel, int16_t override) {
+    return true;
+}
+
+void EmptyRCInput::clear_overrides()
+{}
+

libraries/AP_HAL_Empty/RCInput.h

@@ -5,7 +5,16 @@
 #include <AP_HAL_Empty.h>
 
 class Empty::EmptyRCInput : public AP_HAL::RCInput {
+public:
+    EmptyRCInput();
+    void init(void* machtnichts);
+    uint8_t  valid();
+    uint16_t read(uint8_t ch);
+    uint8_t read(uint16_t* periods, uint8_t len);
 
+    bool set_overrides(int16_t *overrides, uint8_t len);
+    bool set_override(uint8_t channel, int16_t override);
+    void clear_overrides();
 };
 
 #endif // __AP_HAL_EMPTY_RCINPUT_H__

libraries/AP_HAL_Empty/RCOutput.cpp

@@ -0,0 +1,38 @@
+
+#include "RCOutput.h"
+
+using namespace Empty;
+
+void EmptyRCOutput::init(void* machtnichts) {}
+
+void EmptyRCOutput::set_freq(uint32_t chmask, uint16_t freq_hz) {}
+
+uint16_t EmptyRCOutput::get_freq(uint8_t ch) {
+    return 50;
+}
+
+void EmptyRCOutput::enable_ch(uint8_t ch)
+{}
+
+void EmptyRCOutput::enable_mask(uint32_t chmask)
+{}
+
+void EmptyRCOutput::disable_ch(uint8_t ch)
+{}
+
+void EmptyRCOutput::disable_mask(uint32_t chmask)
+{}
+
+void EmptyRCOutput::write(uint8_t ch, uint16_t period_us)
+{}
+
+void EmptyRCOutput::write(uint8_t ch, uint16_t* period_us, uint8_t len)
+{}
+
+uint16_t EmptyRCOutput::read(uint8_t ch) {
+    return 900;
+}
+
+void EmptyRCOutput::read(uint16_t* period_us, uint8_t len)
+{}
+

libraries/AP_HAL_Empty/RCOutput.h

@@ -5,7 +5,17 @@
 #include <AP_HAL_Empty.h>
 
 class Empty::EmptyRCOutput : public AP_HAL::RCOutput {
-
+    void     init(void* machtnichts);
+    void     set_freq(uint32_t chmask, uint16_t freq_hz);
+    uint16_t get_freq(uint8_t ch);
+    void     enable_ch(uint8_t ch);
+    void     enable_mask(uint32_t chmask);
+    void     disable_ch(uint8_t ch);
+    void     disable_mask(uint32_t chmask);
+    void     write(uint8_t ch, uint16_t period_us);
+    void     write(uint8_t ch, uint16_t* period_us, uint8_t len);
+    uint16_t read(uint8_t ch);
+    void     read(uint16_t* period_us, uint8_t len);
 };
 
 #endif // __AP_HAL_EMPTY_RCOUTPUT_H__

libraries/AP_HAL_Empty/Scheduler.cpp

@@ -0,0 +1,56 @@
+
+#include "Scheduler.h"
+
+using namespace Empty;
+
+EmptyScheduler::EmptyScheduler()
+{}
+
+void EmptyScheduler::init(void* machtnichts)
+{}
+
+void EmptyScheduler::delay(uint32_t ms)
+{}
+
+uint32_t EmptyScheduler::millis() {
+    return 10000;
+}
+
+uint32_t EmptyScheduler::micros() {
+    return 200000;
+}
+
+void EmptyScheduler::delay_microseconds(uint16_t us)
+{}
+
+void EmptyScheduler::register_delay_callback(AP_HAL::Proc k,
+            uint16_t min_time_ms)
+{}
+
+void EmptyScheduler::register_timer_process(AP_HAL::TimedProc k)
+{}
+
+bool EmptyScheduler::defer_timer_process(AP_HAL::TimedProc k) {
+    if (k) k(5000);
+    return true;
+}
+
+void EmptyScheduler::register_timer_failsafe(AP_HAL::TimedProc,
+            uint32_t period_us)
+{}
+
+void EmptyScheduler::suspend_timer_procs()
+{}
+
+void EmptyScheduler::resume_timer_procs()
+{}
+
+void EmptyScheduler::begin_atomic()
+{}
+
+void EmptyScheduler::end_atomic()
+{}
+
+void EmptyScheduler::reboot() {
+    for(;;);
+}

libraries/AP_HAL_Empty/Scheduler.h

@@ -5,6 +5,26 @@
 #include <AP_HAL_Empty.h>
 
 class Empty::EmptyScheduler : public AP_HAL::Scheduler {
+public:
+    EmptyScheduler();
+    void     init(void* machtnichts);
+    void     delay(uint32_t ms);
+    uint32_t millis();
+    uint32_t micros();
+    void     delay_microseconds(uint16_t us);
+    void     register_delay_callback(AP_HAL::Proc,
+                uint16_t min_time_ms);
+    void     register_timer_process(AP_HAL::TimedProc);
+    bool     defer_timer_process(AP_HAL::TimedProc);
+    void     register_timer_failsafe(AP_HAL::TimedProc,
+                uint32_t period_us);
+    void     suspend_timer_procs();
+    void     resume_timer_procs();
+
+    void     begin_atomic();
+    void     end_atomic();
+
+    void     reboot();
 
 };
 

libraries/AP_HAL_Empty/examples/empty_example/empty_example.pde

@@ -7,7 +7,7 @@
 #include <AP_HAL.h>
 #include <AP_HAL_Empty.h>
 
-extern const AP_HAL::HAL& hal;// = AP_HAL_Empty;
+const AP_HAL::HAL& hal = AP_HAL_Empty;
 
 void setup() {}
 void loop() {}