/* This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see <http://www.gnu.org/licenses/>. */ /* base class for serially-attached simulated devices */ #include <AP_HAL/AP_HAL.h> #include <SITL/SITL.h> #include "SIM_SerialDevice.h" #include <stdio.h> #include <unistd.h> #include <fcntl.h> using namespace SITL; SerialDevice::SerialDevice() { to_autopilot = new ByteBuffer{512}; from_autopilot = new ByteBuffer{512}; } bool SerialDevice::init_sitl_pointer() { if (_sitl == nullptr) { _sitl = AP::sitl(); if (_sitl == nullptr) { return false; } } return true; } ssize_t SerialDevice::read_from_autopilot(char *buffer, const size_t size) const { const ssize_t ret = from_autopilot->read((uint8_t*)buffer, size); // if (ret > 0) { // ::fprintf(stderr, "SIM_SerialDevice: read from autopilot (%u): (", (unsigned)ret); // for (ssize_t i=0; i<ret; i++) { // const uint8_t x = buffer[i]; // ::fprintf(stderr, "%02X", (unsigned)x); // } // ::fprintf(stderr, " "); // for (ssize_t i=0; i<ret; i++) { // ::fprintf(stderr, "%c", buffer[i]); // } // ::fprintf(stderr, ")\n"); // } return ret; } ssize_t SerialDevice::write_to_autopilot(const char *buffer, const size_t size) const { const ssize_t ret = to_autopilot->write((uint8_t*)buffer, size); // ::fprintf(stderr, "write to autopilot: ("); // for (ssize_t i=0; i<ret; i++) { // ::fprintf(stderr, "%02X", (uint8_t)buffer[i]); // } // ::fprintf(stderr, ") (\n"); // for (ssize_t i=0; i<ret; i++) { // ::fprintf(stderr, "%c", (uint8_t)buffer[i]); // } // ::fprintf(stderr, ")\n"); return ret; } ssize_t SerialDevice::read_from_device(char *buffer, const size_t size) const { const ssize_t ret = to_autopilot->read((uint8_t*)buffer, size); return ret; } ssize_t SerialDevice::write_to_device(const char *buffer, const size_t size) const { const ssize_t ret = from_autopilot->write((uint8_t*)buffer, size); return ret; }