ardupilot/libraries/AP_HAL_Linux/Util.h

133 lines
4.2 KiB
C++

#pragma once
#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>
#include "Heat.h"
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
#include "ToneAlarm_Disco.h"
#endif
#include "ToneAlarm.h"
#include "Semaphores.h"
namespace Linux {
enum hw_type {
UTIL_HARDWARE_RPI1 = 0,
UTIL_HARDWARE_RPI2,
UTIL_HARDWARE_RPI4,
UTIL_HARDWARE_BEBOP,
UTIL_HARDWARE_BEBOP2,
UTIL_HARDWARE_DISCO,
UTIL_NUM_HARDWARES,
};
class Util : public AP_HAL::Util {
public:
static Util *from(AP_HAL::Util *util) {
return static_cast<Util*>(util);
}
void init(int argc, char *const *argv);
/**
return commandline arguments, if available
*/
void commandline_arguments(uint8_t &argc, char * const *&argv) override;
/*
get/set system clock in UTC microseconds
*/
void set_hw_rtc(uint64_t time_utc_usec) override;
uint64_t get_hw_rtc() const override;
const char *get_custom_log_directory() const override final { return custom_log_directory; }
const char *get_custom_terrain_directory() const override final { return custom_terrain_directory; }
const char *get_custom_storage_directory() const override final { return custom_storage_directory; }
void set_custom_log_directory(const char *_custom_log_directory) { custom_log_directory = _custom_log_directory; }
void set_custom_terrain_directory(const char *_custom_terrain_directory) { custom_terrain_directory = _custom_terrain_directory; }
void set_custom_storage_directory(const char *_custom_storage_directory) {
custom_storage_directory = _custom_storage_directory;
}
void set_custom_defaults_path(const char *_custom_defaults) {
custom_defaults = _custom_defaults;
}
// get path to custom defaults file for AP_Param
const char* get_custom_defaults_file() const override final {
return custom_defaults;
}
/* Parse cpu set in the form 0; 0,2; or 0-2 */
bool parse_cpu_set(const char *s, cpu_set_t *cpu_set) const;
bool is_chardev_node(const char *path);
void set_imu_temp(float current) override;
void set_imu_target_temp(int8_t *target) override;
uint32_t available_memory(void) override;
bool get_system_id(char buf[50]) override;
bool get_system_id_unformatted(uint8_t buf[], uint8_t &len) override;
#if ENABLE_HEAP
// heap functions, note that a heap once alloc'd cannot be dealloc'd
virtual void *allocate_heap_memory(size_t size) override;
virtual void *heap_realloc(void *h, void *ptr, size_t old_size, size_t new_size) override;
#endif // ENABLE_HEAP
/*
* Write a string as specified by @fmt to the file in @path. Note this
* should not be used on hot path since it will open, write and close the
* file for each call.
*/
int write_file(const char *path, const char *fmt, ...) FMT_PRINTF(3, 4);
/*
* Read a string as specified by @fmt from the file in @path. Note this
* should not be used on hot path since it will open, read and close the
* file for each call.
*/
int read_file(const char *path, const char *fmt, ...) FMT_SCANF(3, 4);
int get_hw_arm32();
bool toneAlarm_init(uint8_t types) override { return _toneAlarm.init(); }
void toneAlarm_set_buzzer_tone(float frequency, float volume, uint32_t duration_ms) override {
_toneAlarm.set_buzzer_tone(frequency, volume, duration_ms);
}
// fills data with random values of requested size
bool get_random_vals(uint8_t* data, size_t size) override;
private:
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
static ToneAlarm_Disco _toneAlarm;
#else
static ToneAlarm _toneAlarm;
#endif
int saved_argc;
Heat *_heat;
char *const *saved_argv;
const char *custom_log_directory = nullptr;
const char *custom_terrain_directory = nullptr;
const char *custom_storage_directory = nullptr;
const char *custom_defaults = HAL_PARAM_DEFAULTS_PATH;
static const char *_hw_names[UTIL_NUM_HARDWARES];
#if ENABLE_HEAP
struct heap_allocation_header {
size_t allocation_size; // size of allocated block, not including this header
};
struct heap {
size_t max_heap_size;
size_t current_heap_usage;
};
#endif // ENABLE_HEAP
};
}