mirror of https://github.com/ArduPilot/ardupilot
81 lines
2.1 KiB
C++
81 lines
2.1 KiB
C++
#include "AP_HAL.h"
|
|
#include "Util.h"
|
|
#include "utility/print_vprintf.h"
|
|
#if defined(__APPLE__) && defined(__MACH__)
|
|
#include <sys/time.h>
|
|
#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
|
|
#include "ch.h"
|
|
#include "hal.h"
|
|
#else
|
|
#include <time.h>
|
|
#endif
|
|
|
|
/* Helper class implements AP_HAL::Print so we can use utility/vprintf */
|
|
class BufferPrinter : public AP_HAL::BetterStream {
|
|
public:
|
|
BufferPrinter(char* str, size_t size) :
|
|
_offs(0), _str(str), _size(size) {}
|
|
|
|
size_t write(uint8_t c) override {
|
|
if (_offs < _size) {
|
|
_str[_offs] = c;
|
|
}
|
|
_offs++;
|
|
return 1;
|
|
}
|
|
size_t write(const uint8_t *buffer, size_t size) override {
|
|
size_t n = 0;
|
|
while (size--) {
|
|
n += write(*buffer++);
|
|
}
|
|
return n;
|
|
}
|
|
|
|
size_t _offs;
|
|
char* const _str;
|
|
const size_t _size;
|
|
|
|
uint32_t available() override { return 0; }
|
|
int16_t read() override { return -1; }
|
|
uint32_t txspace() override { return 0; }
|
|
bool discard_input() override { return false; }
|
|
};
|
|
|
|
int AP_HAL::Util::snprintf(char* str, size_t size, const char *format, ...)
|
|
{
|
|
va_list ap;
|
|
va_start(ap, format);
|
|
int res = vsnprintf(str, size, format, ap);
|
|
va_end(ap);
|
|
return res;
|
|
}
|
|
|
|
int AP_HAL::Util::vsnprintf(char* str, size_t size, const char *format, va_list ap)
|
|
{
|
|
// note that size==0 must be handled as functions like vasprintf() rely on the return
|
|
// value being the number of bytes that would be printed if there was enough space.
|
|
BufferPrinter buf(str, size?size-1:0);
|
|
print_vprintf(&buf, format, ap);
|
|
// null terminate
|
|
size_t ret = buf._offs;
|
|
if (ret < size) {
|
|
// if the string did fit then nul terminate
|
|
str[ret] = '\0';
|
|
} else if (size > 0) {
|
|
// if it didn't fit then terminate using passed in size
|
|
str[size-1] = 0;
|
|
}
|
|
return int(ret);
|
|
}
|
|
|
|
void AP_HAL::Util::set_soft_armed(const bool b)
|
|
{
|
|
if (b != soft_armed) {
|
|
soft_armed = b;
|
|
last_armed_change_ms = AP_HAL::millis();
|
|
if (!was_watchdog_reset()) {
|
|
persistent_data.armed = b;
|
|
}
|
|
}
|
|
}
|