mirror of https://github.com/ArduPilot/ardupilot
77 lines
1.5 KiB
C++
77 lines
1.5 KiB
C++
#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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#include <stdio.h>
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#include <stdarg.h>
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#include <sys/stat.h>
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#include <unistd.h>
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#include <stdlib.h>
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#include <errno.h>
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#include <time.h>
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extern const AP_HAL::HAL& hal;
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#include "Util.h"
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using namespace Linux;
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static int state;
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ToneAlarm LinuxUtil::_toneAlarm;
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/**
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return commandline arguments, if available
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*/
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void LinuxUtil::commandline_arguments(uint8_t &argc, char * const *&argv)
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{
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argc = saved_argc;
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argv = saved_argv;
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}
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bool LinuxUtil::toneAlarm_init()
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{
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return _toneAlarm.init();
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}
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void LinuxUtil::toneAlarm_set_tune(uint8_t tone)
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{
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_toneAlarm.set_tune(tone);
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}
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void LinuxUtil::_toneAlarm_timer_tick(){
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if(state == 0){
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state = state + _toneAlarm.init_tune();
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}else if(state == 1){
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state = state + _toneAlarm.set_note();
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}
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if(state == 2){
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state = state + _toneAlarm.play();
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}else if(state == 3){
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state = 1;
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}
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if(_toneAlarm.is_tune_comp()){
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state = 0;
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}
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}
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void LinuxUtil::set_system_clock(uint64_t time_utc_usec)
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{
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#if CONFIG_HAL_BOARD_SUBTYPE != HAL_BOARD_SUBTYPE_LINUX_NONE
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timespec ts;
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ts.tv_sec = time_utc_usec/1.0e6;
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ts.tv_nsec = (time_utc_usec % 1000000) * 1000;
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clock_settime(CLOCK_REALTIME, &ts);
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#endif
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}
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bool LinuxUtil::is_chardev_node(const char *path)
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{
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struct stat st;
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if (!path || lstat(path, &st) < 0)
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return false;
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return S_ISCHR(st.st_mode);
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}
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#endif // CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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