mirror of https://github.com/ArduPilot/ardupilot
110 lines
2.9 KiB
C++
110 lines
2.9 KiB
C++
#pragma once
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#include <AP_HAL/AP_HAL.h>
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#include "AP_HAL_SITL_Namespace.h"
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#include "AP_HAL_SITL.h"
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#include "Semaphores.h"
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#include "ToneAlarm_SF.h"
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#if !defined(__CYGWIN__) && !defined(__CYGWIN64__)
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#include <sys/types.h>
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#include <signal.h>
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#endif
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class HALSITL::Util : public AP_HAL::Util {
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public:
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Util(SITL_State *_sitlState) :
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sitlState(_sitlState) {}
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bool run_debug_shell(AP_HAL::BetterStream *stream) override {
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return false;
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}
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/**
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how much free memory do we have in bytes.
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*/
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uint32_t available_memory(void) override {
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// SITL is assumed to always have plenty of memory. Return 128k for now
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return 0x20000;
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}
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// get path to custom defaults file for AP_Param
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const char* get_custom_defaults_file() const override {
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return sitlState->defaults_path;
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}
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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) override;
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uint64_t get_hw_rtc() const override;
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void set_hw_rtc(uint64_t time_utc_usec) override { /* fail silently */ }
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bool get_system_id(char buf[50]) override;
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bool get_system_id_unformatted(uint8_t buf[], uint8_t &len) override;
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void dump_stack_trace();
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#ifdef ENABLE_HEAP
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// heap functions, note that a heap once alloc'd cannot be dealloc'd
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void *allocate_heap_memory(size_t size) override;
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void *heap_realloc(void *heap, void *ptr, size_t old_size, size_t new_size) override;
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#endif // ENABLE_HEAP
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#ifdef WITH_SITL_TONEALARM
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bool toneAlarm_init(uint8_t types) override { return _toneAlarm.init(); }
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void toneAlarm_set_buzzer_tone(float frequency, float volume, uint32_t duration_ms) override {
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_toneAlarm.set_buzzer_tone(frequency, volume, duration_ms);
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}
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#endif
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// return true if the reason for the reboot was a watchdog reset
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bool was_watchdog_reset() const override { return getenv("SITL_WATCHDOG_RESET") != nullptr; }
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#if !defined(HAL_BUILD_AP_PERIPH)
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enum safety_state safety_switch_state(void) override;
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void set_cmdline_parameters() override;
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#endif
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bool trap() const override {
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#if defined(__CYGWIN__) || defined(__CYGWIN64__)
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return false;
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#else
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if (kill(0, SIGTRAP) == -1) {
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return false;
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}
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return true;
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#endif
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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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// fills data with random values of requested size
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bool get_random_vals(uint8_t* data, size_t size) override;
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private:
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SITL_State *sitlState;
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#ifdef WITH_SITL_TONEALARM
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static ToneAlarm_SF _toneAlarm;
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#endif
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#ifdef ENABLE_HEAP
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struct heap_allocation_header {
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size_t allocation_size; // size of allocated block, not including this header
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};
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struct heap {
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size_t scripting_max_heap_size;
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size_t current_heap_usage;
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};
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#endif // ENABLE_HEAP
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int saved_argc;
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char *const *saved_argv;
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};
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