mirror of https://github.com/ArduPilot/ardupilot
127 lines
3.4 KiB
C++
127 lines
3.4 KiB
C++
#include "Util.h"
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#include <sys/time.h>
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#ifdef WITH_SITL_TONEALARM
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HALSITL::ToneAlarm_SF HALSITL::Util::_toneAlarm;
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#endif
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uint64_t HALSITL::Util::get_hw_rtc() const
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{
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#ifndef CLOCK_REALTIME
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struct timeval ts;
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gettimeofday(&ts, nullptr);
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return ((long long)((ts.tv_sec * 1000000) + ts.tv_usec));
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#else
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struct timespec ts;
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clock_gettime(CLOCK_REALTIME, &ts);
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const uint64_t seconds = ts.tv_sec;
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const uint64_t nanoseconds = ts.tv_nsec;
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return (seconds * 1000000ULL + nanoseconds/1000ULL);
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#endif
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}
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/*
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get a (hopefully unique) machine ID
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*/
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bool HALSITL::Util::get_system_id_unformatted(uint8_t buf[], uint8_t &len)
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{
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char *cbuf = (char *)buf;
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// try first to use machine-id file. Most systems will have this
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const char *paths[] = { "/etc/machine-id", "/var/lib/dbus/machine-id" };
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for (uint8_t i=0; i<ARRAY_SIZE(paths); i++) {
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int fd = open(paths[i], O_RDONLY);
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if (fd == -1) {
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continue;
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}
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ssize_t ret = read(fd, buf, len);
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close(fd);
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if (ret <= 0) {
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continue;
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}
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len = ret;
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char *p = strchr(cbuf, '\n');
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if (p) {
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*p = 0;
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}
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len = strnlen(cbuf, len);
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return true;
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}
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// fallback to hostname
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if (gethostname(cbuf, len) != 0) {
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// use a default name so this always succeeds. Without it we can't
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// implement some features (such as UAVCAN)
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strncpy(cbuf, "sitl-unknown", len);
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}
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len = strnlen(cbuf, len);
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return true;
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}
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/*
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as get_system_id_unformatted will already be ascii, we use the same
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ID here
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*/
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bool HALSITL::Util::get_system_id(char buf[40])
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{
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uint8_t len = 40;
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return get_system_id_unformatted((uint8_t *)buf, len);
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}
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#ifdef ENABLE_HEAP
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void *HALSITL::Util::allocate_heap_memory(size_t size)
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{
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struct heap *new_heap = (struct heap*)malloc(sizeof(struct heap));
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if (new_heap != nullptr) {
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new_heap->scripting_max_heap_size = size;
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new_heap->current_heap_usage = 0;
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}
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return (void *)new_heap;
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}
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void *HALSITL::Util::heap_realloc(void *heap_ptr, void *ptr, size_t new_size)
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{
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if (heap_ptr == nullptr) {
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return nullptr;
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}
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struct heap *heapp = (struct heap*)heap_ptr;
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// extract appropriate headers
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size_t old_size = 0;
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heap_allocation_header *old_header = nullptr;
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if (ptr != nullptr) {
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old_header = ((heap_allocation_header *)ptr) - 1;
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old_size = old_header->allocation_size;
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}
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heapp->current_heap_usage -= old_size;
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if (new_size == 0) {
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free(old_header);
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return nullptr;
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}
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if ((heapp->current_heap_usage + new_size - old_size) > heapp->scripting_max_heap_size) {
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// fail the allocation as we don't have the memory. Note that we don't simulate fragmentation
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return nullptr;
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}
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heap_allocation_header *new_header = (heap_allocation_header *)malloc(new_size + sizeof(heap_allocation_header));
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if (new_header == nullptr) {
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// total failure to allocate, this is very surprising in SITL
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return nullptr;
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}
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heapp->current_heap_usage += new_size;
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new_header->allocation_size = new_size;
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void *new_mem = new_header + 1;
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if (ptr == nullptr) {
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return new_mem;
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}
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memcpy(new_mem, ptr, old_size > new_size ? new_size : old_size);
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free(old_header);
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return new_mem;
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}
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#endif // ENABLE_HEAP
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