mirror of https://github.com/ArduPilot/ardupilot
69 lines
1.6 KiB
C++
69 lines
1.6 KiB
C++
|
|
#ifndef __AP_HAL_PX4_UTIL_H__
|
|
#define __AP_HAL_PX4_UTIL_H__
|
|
|
|
#include <AP_HAL/AP_HAL.h>
|
|
#include "AP_HAL_PX4_Namespace.h"
|
|
#include "Semaphores.h"
|
|
|
|
class PX4::NSHShellStream : public AP_HAL::Stream {
|
|
public:
|
|
size_t write(uint8_t);
|
|
size_t write(const uint8_t *buffer, size_t size);
|
|
int16_t read();
|
|
int16_t available();
|
|
int16_t txspace();
|
|
private:
|
|
int shell_stdin = -1;
|
|
int shell_stdout = -1;
|
|
pthread_t shell_thread_ctx;
|
|
|
|
struct {
|
|
int in = -1;
|
|
int out = -1;
|
|
} child;
|
|
bool showed_memory_warning = false;
|
|
bool showed_armed_warning = false;
|
|
|
|
void start_shell(void);
|
|
static void shell_thread(void *arg);
|
|
};
|
|
|
|
class PX4::PX4Util : public AP_HAL::Util {
|
|
public:
|
|
PX4Util(void);
|
|
bool run_debug_shell(AP_HAL::BetterStream *stream);
|
|
|
|
enum safety_state safety_switch_state(void);
|
|
|
|
/*
|
|
set system clock in UTC microseconds
|
|
*/
|
|
void set_system_clock(uint64_t time_utc_usec);
|
|
|
|
/*
|
|
get system identifier (STM32 serial number)
|
|
*/
|
|
bool get_system_id(char buf[40]);
|
|
|
|
uint32_t available_memory(void) override;
|
|
|
|
/*
|
|
return a stream for access to nsh shell
|
|
*/
|
|
AP_HAL::Stream *get_shell_stream() { return &_shell_stream; }
|
|
perf_counter_t perf_alloc(perf_counter_type t, const char *name) override;
|
|
void perf_begin(perf_counter_t ) override;
|
|
void perf_end(perf_counter_t) override;
|
|
void perf_count(perf_counter_t) override;
|
|
|
|
// create a new semaphore
|
|
AP_HAL::Semaphore *new_semaphore(void) override { return new PX4::Semaphore; }
|
|
|
|
private:
|
|
int _safety_handle;
|
|
PX4::NSHShellStream _shell_stream;
|
|
};
|
|
|
|
#endif // __AP_HAL_PX4_UTIL_H__
|