mirror of https://github.com/ArduPilot/ardupilot
53 lines
1.3 KiB
C++
53 lines
1.3 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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#pragma once
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#include <unistd.h>
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namespace SITL {
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class SerialDevice {
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public:
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SerialDevice();
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// return fd on which data from the device can be read
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// to the device can be written
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int fd() { return fd_their_end; }
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// return fd on which data to the device can be written
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int write_fd() { return read_fd_their_end; }
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ssize_t read_from_autopilot(char *buffer, size_t size);
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ssize_t write_to_autopilot(const char *buffer, size_t size);
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protected:
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class SITL *_sitl;
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int fd_their_end;
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int fd_my_end;
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int read_fd_their_end;
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int read_fd_my_end;
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bool init_sitl_pointer();
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};
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}
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