mirror of https://github.com/ArduPilot/ardupilot
151 lines
4.5 KiB
C++
151 lines
4.5 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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#include <AP_HAL/AP_HAL.h>
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#include <SITL/SITL.h>
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#include "SIM_SerialDevice.h"
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#include <stdio.h>
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#include <unistd.h>
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#include <fcntl.h>
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using namespace SITL;
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SerialDevice::SerialDevice(uint16_t tx_bufsize, uint16_t rx_bufsize)
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{
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to_autopilot = NEW_NOTHROW ByteBuffer{tx_bufsize};
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from_autopilot = NEW_NOTHROW ByteBuffer{rx_bufsize};
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}
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bool SerialDevice::init_sitl_pointer()
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{
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if (_sitl == nullptr) {
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_sitl = AP::sitl();
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if (_sitl == nullptr) {
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return false;
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}
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}
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return true;
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}
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#if AP_SIM_SERIALDEVICE_CORRUPTION_ENABLED
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ssize_t SerialDevice::corrupt_transfer(char *buffer, const ssize_t ret, const size_t size) const
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{
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if (ret > 0 && (rand() % 100) < 2) {
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// drop a random byte from returned data:
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const size_t byte_ofs_to_drop = rand() % ret;
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fprintf(stderr, "dropping byte at offset %u\n", unsigned(byte_ofs_to_drop));
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memmove(&buffer[byte_ofs_to_drop], &buffer[byte_ofs_to_drop+1], ret - byte_ofs_to_drop - 1);
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return ret - 1;
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}
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if (ret > 0 && size_t(ret) < size && (rand() % 100) < 2) {
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// add a random byte to the stream:
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const size_t byte_ofs_to_add = rand() % ret;
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fprintf(stderr, "adding byte at offset %u\n", unsigned(byte_ofs_to_add));
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memmove(&buffer[byte_ofs_to_add+1], &buffer[byte_ofs_to_add], ret - byte_ofs_to_add);
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buffer[byte_ofs_to_add] = rand()*256;
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return ret + 1;
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}
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if (ret > 0 && unsigned(ret) < size && (rand() % 100) < 2) {
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// corrupt a random byte in the stream:
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const size_t byte_ofs_to_corrupt = rand() % ret;
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fprintf(stderr, "corrupting byte at offset=%u\n", unsigned(byte_ofs_to_corrupt));
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buffer[byte_ofs_to_corrupt] = rand()*256;
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return ret;
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}
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return ret;
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}
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#endif
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ssize_t SerialDevice::read_from_autopilot(char *buffer, const size_t size) const
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{
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ssize_t ret = from_autopilot->read((uint8_t*)buffer, size);
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#if AP_SIM_SERIALDEVICE_CORRUPTION_ENABLED
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ret = corrupt_transfer(buffer, ret, size);
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#endif
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// if (ret > 0) {
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// ::fprintf(stderr, "SIM_SerialDevice: read from autopilot (%u): (", (unsigned)ret);
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// for (ssize_t i=0; i<ret; i++) {
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// const uint8_t x = buffer[i];
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// ::fprintf(stderr, "%02X", (unsigned)x);
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// }
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// ::fprintf(stderr, " ");
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// for (ssize_t i=0; i<ret; i++) {
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// ::fprintf(stderr, "%c", buffer[i]);
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// }
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// ::fprintf(stderr, ")\n");
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// }
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return ret;
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}
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ssize_t SerialDevice::write_to_autopilot(const char *buffer, const size_t size) const
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{
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if (!is_match_baud()) {
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return -1;
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}
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const ssize_t ret = to_autopilot->write((uint8_t*)buffer, size);
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return ret;
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}
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ssize_t SerialDevice::read_from_device(char *buffer, const size_t size) const
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{
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if (!is_match_baud()) {
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return -1;
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}
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ssize_t ret = to_autopilot->read((uint8_t*)buffer, size);
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#if AP_SIM_SERIALDEVICE_CORRUPTION_ENABLED
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ret = corrupt_transfer(buffer, ret, size);
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#endif
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// ::fprintf(stderr, "read_from_device: (");
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// for (ssize_t i=0; i<ret; i++) {
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// ::fprintf(stderr, "%02X", (uint8_t)buffer[i]);
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// }
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// ::fprintf(stderr, ") (\n");
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// for (ssize_t i=0; i<ret; i++) {
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// ::fprintf(stderr, "%c", (uint8_t)buffer[i]);
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// }
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// ::fprintf(stderr, ")\n");
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return ret;
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}
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ssize_t SerialDevice::write_to_device(const char *buffer, const size_t size) const
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{
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const ssize_t ret = from_autopilot->write((uint8_t*)buffer, size);
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return ret;
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}
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/**
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* baudrates match
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*
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* @retval true matched baudreate
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* @retval false unmatched baudreate
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*/
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bool SerialDevice::is_match_baud() const
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{
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if (device_baud() != 0 && autopilot_baud != 0 && device_baud() != autopilot_baud) {
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return false;
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}
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return true;
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}
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