mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-06 16:08:28 -04:00
54c2c5f682
Instead of just doing a static cast to the desired class, use a method
named "from". Pros:
- When we have data shared on the parent class, the code is cleaner in
child class when it needs to access this data. Almost all the data
we use in AP_HAL benefits from this
- There's a minimal type checking because now we are using a method
that can only receive the type of the parent class
56 lines
1.5 KiB
C++
56 lines
1.5 KiB
C++
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#ifndef __AP_HAL_LINUX_UTIL_H__
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#define __AP_HAL_LINUX_UTIL_H__
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#include <AP_HAL/AP_HAL.h>
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#include "AP_HAL_Linux_Namespace.h"
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#include "ToneAlarmDriver.h"
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class Linux::LinuxUtil : public AP_HAL::Util {
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public:
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static LinuxUtil *from(AP_HAL::Util *util) {
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return static_cast<LinuxUtil*>(util);
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}
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void init(int argc, char * const *argv) {
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saved_argc = argc;
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saved_argv = argv;
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}
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bool run_debug_shell(AP_HAL::BetterStream *stream) { return false; }
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/**
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return commandline arguments, if available
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*/
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void commandline_arguments(uint8_t &argc, char * const *&argv);
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bool toneAlarm_init();
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void toneAlarm_set_tune(uint8_t tune);
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void _toneAlarm_timer_tick();
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/*
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set system clock in UTC microseconds
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*/
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void set_system_clock(uint64_t time_utc_usec);
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const char* get_custom_log_directory() { return custom_log_directory; }
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const char* get_custom_terrain_directory() { return custom_terrain_directory; }
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void set_custom_log_directory(const char *_custom_log_directory) { custom_log_directory = _custom_log_directory; }
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void set_custom_terrain_directory(const char *_custom_terrain_directory) { custom_terrain_directory = _custom_terrain_directory; }
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bool is_chardev_node(const char *path);
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private:
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static Linux::ToneAlarm _toneAlarm;
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int saved_argc;
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char* const *saved_argv;
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const char* custom_log_directory = NULL;
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const char* custom_terrain_directory = NULL;
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};
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#endif // __AP_HAL_LINUX_UTIL_H__
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