ardupilot/libraries/AP_HAL_Linux/Util.h

118 lines
3.3 KiB
C++

#pragma once
#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>
#include "Heat.h"
#include "Perf.h"
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
#include "ToneAlarm_Raspilot.h"
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
#include "ToneAlarm_Disco.h"
#endif
#include "ToneAlarm.h"
#include "Semaphores.h"
namespace Linux {
enum hw_type {
UTIL_HARDWARE_RPI1 = 0,
UTIL_HARDWARE_RPI2,
UTIL_HARDWARE_BEBOP,
UTIL_HARDWARE_BEBOP2,
UTIL_HARDWARE_DISCO,
UTIL_NUM_HARDWARES,
};
class Util : public AP_HAL::Util {
public:
static Util *from(AP_HAL::Util *util) {
return static_cast<Util*>(util);
}
void init(int argc, char * const *argv);
bool run_debug_shell(AP_HAL::BetterStream *stream) { return false; }
/**
return commandline arguments, if available
*/
void commandline_arguments(uint8_t &argc, char * const *&argv);
bool toneAlarm_init();
void toneAlarm_set_tune(uint8_t tune);
void _toneAlarm_timer_tick();
/*
set system clock in UTC microseconds
*/
void set_system_clock(uint64_t time_utc_usec);
const char* get_custom_log_directory() { return custom_log_directory; }
const char* get_custom_terrain_directory() { return custom_terrain_directory; }
void set_custom_log_directory(const char *_custom_log_directory) { custom_log_directory = _custom_log_directory; }
void set_custom_terrain_directory(const char *_custom_terrain_directory) { custom_terrain_directory = _custom_terrain_directory; }
bool is_chardev_node(const char *path);
void set_imu_temp(float current) override;
void set_imu_target_temp(int8_t *target) override;
uint32_t available_memory(void) override;
/*
* Write a string as specified by @fmt to the file in @path. Note this
* should not be used on hot path since it will open, write and close the
* file for each call.
*/
int write_file(const char *path, const char *fmt, ...) FMT_PRINTF(3, 4);
/*
* Read a string as specified by @fmt from the file in @path. Note this
* should not be used on hot path since it will open, read and close the
* file for each call.
*/
int read_file(const char *path, const char *fmt, ...) FMT_SCANF(3, 4);
perf_counter_t perf_alloc(enum perf_counter_type t, const char *name) override
{
return Perf::get_instance()->add(t, name);
}
void perf_begin(perf_counter_t perf) override
{
return Perf::get_instance()->begin(perf);
}
void perf_end(perf_counter_t perf) override
{
return Perf::get_instance()->end(perf);
}
void perf_count(perf_counter_t perf) override
{
return Perf::get_instance()->count(perf);
}
// create a new semaphore
AP_HAL::Semaphore *new_semaphore(void) override { return new Semaphore; }
int get_hw_arm32();
private:
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
static ToneAlarm_Raspilot _toneAlarm;
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
static ToneAlarm_Disco _toneAlarm;
#else
static ToneAlarm _toneAlarm;
#endif
Heat *_heat;
int saved_argc;
char* const *saved_argv;
const char* custom_log_directory = nullptr;
const char* custom_terrain_directory = nullptr;
static const char *_hw_names[UTIL_NUM_HARDWARES];
};
}