mirror of https://github.com/ArduPilot/ardupilot
105 lines
3.1 KiB
C++
105 lines
3.1 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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base class for serially-attached simulated devices
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*/
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#include "SIM_SerialDevice.h"
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#include <stdio.h>
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#include <unistd.h>
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#include <fcntl.h>
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using namespace SITL;
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SerialDevice::SerialDevice()
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{
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// pipe for device to write to:
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int tmp[2];
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if (pipe(tmp) == -1) {
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AP_HAL::panic("pipe() failed");
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}
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fd_my_end = tmp[1];
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fd_their_end = tmp[0];
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// close file descriptors on exec:
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fcntl(fd_my_end, F_SETFD, FD_CLOEXEC);
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fcntl(fd_their_end, F_SETFD, FD_CLOEXEC);
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// make sure we don't screw the simulation up by blocking:
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fcntl(fd_my_end, F_SETFL, fcntl(fd_my_end, F_GETFL, 0) | O_NONBLOCK);
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fcntl(fd_their_end, F_SETFL, fcntl(fd_their_end, F_GETFL, 0) | O_NONBLOCK);
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// pipe for device to read from:
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if (pipe(tmp) == -1) {
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AP_HAL::panic("pipe() failed");
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}
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read_fd_my_end = tmp[0];
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read_fd_their_end = tmp[1];
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// close file descriptors on exec:
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fcntl(read_fd_my_end, F_SETFD, FD_CLOEXEC);
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fcntl(read_fd_their_end, F_SETFD, FD_CLOEXEC);
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// make sure we don't screw the simulation up by blocking:
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fcntl(read_fd_my_end, F_SETFL, fcntl(fd_my_end, F_GETFL, 0) | O_NONBLOCK);
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fcntl(read_fd_their_end, F_SETFL, fcntl(fd_their_end, F_GETFL, 0) | O_NONBLOCK);
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}
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bool SerialDevice::init_sitl_pointer()
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{
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if (_sitl == nullptr) {
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_sitl = AP::sitl();
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if (_sitl == nullptr) {
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return false;
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}
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}
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return true;
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}
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ssize_t SerialDevice::read_from_autopilot(char *buffer, const size_t size)
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{
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const ssize_t ret = ::read(read_fd_my_end, buffer, size);
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// if (ret > 0) {
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// ::fprintf(stderr, "SIM_SerialDevice: read from autopilot: (");
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// for (ssize_t i=0; i<ret; i++) {
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// ::fprintf(stderr, "%02X", buffer[i]);
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// }
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// ::fprintf(stderr, " ");
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// for (ssize_t i=0; i<ret; i++) {
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// ::fprintf(stderr, "%c", buffer[i]);
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// }
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// ::fprintf(stderr, ")\n");
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// }
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return ret;
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}
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ssize_t SerialDevice::write_to_autopilot(const char *buffer, const size_t size)
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{
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const ssize_t ret = write(fd_my_end, buffer, size);
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// ::fprintf(stderr, "write to autopilot: (");
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// for (ssize_t i=0; i<ret; i++) {
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// ::fprintf(stderr, "%02X", (uint8_t)buffer[i]);
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// }
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// ::fprintf(stderr, ") (\n");
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// for (ssize_t i=0; i<ret; i++) {
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// ::fprintf(stderr, "%c", (uint8_t)buffer[i]);
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// }
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// ::fprintf(stderr, ")\n");
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return ret;
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}
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