ardupilot/libraries/AP_HAL_SITL/SITL_Periph_State.h

76 lines
1.9 KiB
C++

#pragma once
#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL && defined(HAL_BUILD_AP_PERIPH)
#include "AP_HAL_SITL.h"
#include "AP_HAL_SITL_Namespace.h"
#include "HAL_SITL_Class.h"
#include "RCInput.h"
#include <sys/types.h>
#include <sys/socket.h>
#include <netinet/in.h>
#include <netinet/udp.h>
#include <arpa/inet.h>
#include <AP_Baro/AP_Baro.h>
#include <AP_InertialSensor/AP_InertialSensor.h>
#include <AP_Compass/AP_Compass.h>
#include <AP_Terrain/AP_Terrain.h>
#include <AP_HAL/utility/Socket.h>
class HAL_SITL;
class HALSITL::SITL_State {
friend class HALSITL::Scheduler;
friend class HALSITL::Util;
friend class HALSITL::GPIO;
public:
void init(int argc, char * const argv[]);
int gps_pipe(uint8_t index);
// create a file descriptor attached to a virtual device; type of
// device is given by name parameter
int sim_fd(const char *name, const char *arg);
// returns a write file descriptor for a created virtual device
int sim_fd_write(const char *name);
bool use_rtscts(void) const {
return _use_rtscts;
}
uint16_t base_port(void) const {
return _base_port;
}
// simulated airspeed, sonar and battery monitor
uint16_t sonar_pin_value; // pin 0
uint16_t airspeed_pin_value; // pin 1
uint16_t airspeed_2_pin_value; // pin 2
uint16_t voltage_pin_value; // pin 13
uint16_t current_pin_value; // pin 12
uint16_t voltage2_pin_value; // pin 15
uint16_t current2_pin_value; // pin 14
// paths for UART devices
const char *_uart_path[7] {
"tcp:5860",
"fifo:/tmp/ap_gps0",
"tcp:5861",
"tcp:5862",
"fifo:/tmp/ap_gps0",
"tcp:5863",
"tcp:5864",
};
private:
void wait_clock(uint64_t wait_time_usec);
bool _use_rtscts;
uint16_t _base_port;
const char *defaults_path = HAL_PARAM_DEFAULTS_PATH;
};
#endif