mirror of https://github.com/ArduPilot/ardupilot
61 lines
1.7 KiB
C++
61 lines
1.7 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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#include <AP_HAL/utility/RingBuffer.h>
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namespace SITL {
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class SerialDevice {
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public:
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SerialDevice(uint16_t tx_bufsize=512, uint16_t rx_bufsize=512);
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// methods for autopilot to use to talk to device:
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ssize_t read_from_device(char *buffer, size_t size) const;
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ssize_t write_to_device(const char *buffer, size_t size) const;
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void set_autopilot_baud(uint32_t baud) { autopilot_baud = baud; }
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// methods for simulated device to use:
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ssize_t read_from_autopilot(char *buffer, size_t size) const;
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virtual ssize_t write_to_autopilot(const char *buffer, size_t size) const;
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virtual uint32_t device_baud() const { return 0; } // 0 meaning unset
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protected:
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class SIM *_sitl;
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ByteBuffer *to_autopilot;
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ByteBuffer *from_autopilot;
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bool init_sitl_pointer() WARN_IF_UNUSED;
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private:
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bool is_match_baud(void) const;
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uint32_t autopilot_baud;
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ssize_t corrupt_transfer(char *buffer, const ssize_t ret, const size_t size) const;
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};
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}
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