mirror of https://github.com/ArduPilot/ardupilot
75 lines
2.1 KiB
C++
75 lines
2.1 KiB
C++
#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL && defined(HAL_BUILD_AP_PERIPH)
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#include "AP_HAL_SITL.h"
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#include "AP_HAL_SITL_Namespace.h"
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#include "HAL_SITL_Class.h"
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#include "UARTDriver.h"
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#include "Scheduler.h"
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#include <stdio.h>
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#include <signal.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 <sys/select.h>
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#include <AP_Param/AP_Param.h>
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#include <SITL/SIM_JSBSim.h>
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#include <AP_HAL/utility/Socket.h>
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#include <AP_HAL/utility/getopt_cpp.h>
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extern const AP_HAL::HAL& hal;
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using namespace HALSITL;
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void SITL_State::init(int argc, char * const argv[]) {
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int opt;
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const struct GetOptLong::option options[] = {
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{"help", false, 0, 'h'},
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{"instance", true, 0, 'I'},
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{"maintenance", false, 0, 'M'},
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};
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setvbuf(stdout, (char *)0, _IONBF, 0);
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setvbuf(stderr, (char *)0, _IONBF, 0);
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GetOptLong gopt(argc, argv, "hI:M",
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options);
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while((opt = gopt.getoption()) != -1) {
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switch (opt) {
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case 'I':
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_instance = atoi(gopt.optarg);
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break;
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case 'M':
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printf("Running in Maintenance Mode\n");
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_maintenance = true;
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break;
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default:
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printf("Options:\n"
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"\t--help|-h display this help information\n"
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"\t--instance|-I N set instance of SITL Periph\n"
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"\t--maintenance|-M run in maintenance mode\n");
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exit(1);
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}
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}
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printf("Running Instance: %d\n", _instance);
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}
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void SITL_State::wait_clock(uint64_t wait_time_usec) {
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while (AP_HAL::native_micros64() < wait_time_usec) {
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usleep(1000);
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}
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}
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// when Periph can use SITL simulated devices we should remove these
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// stubs:
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ssize_t SITL::SerialDevice::read_from_device(char*, unsigned int) const { return -1; }
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ssize_t SITL::SerialDevice::write_to_device(char const*, unsigned int) const { return -1; }
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#endif //CONFIG_HAL_BOARD == HAL_BOARD_SITL && defined(HAL_BUILD_AP_PERIPH)
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