ardupilot/libraries/AP_HAL/Util.h

#ifndef __AP_HAL_UTIL_H__
#define __AP_HAL_UTIL_H__

#include <stdarg.h>
#include "AP_HAL_Namespace.h"
#include <AP_Progmem.h>

class AP_HAL::Util {
public:
    int snprintf(char* str, size_t size,
                 const char *format, ...);

    int snprintf_P(char* str, size_t size,
                   const prog_char_t *format, ...);

    int vsnprintf(char* str, size_t size,
                  const char *format, va_list ap);

    int vsnprintf_P(char* str, size_t size,
                    const prog_char_t *format, va_list ap);

    // run a debug shall on the given stream if possible. This is used
    // to support dropping into a debug shell to run firmware upgrade
    // commands
    virtual bool run_debug_shell(AP_HAL::BetterStream *stream) = 0;

    enum safety_state {
        SAFETY_NONE, SAFETY_DISARMED, SAFETY_ARMED
    };

    /*
      return state of safety switch, if applicable
     */
    virtual enum safety_state safety_switch_state(void) { return SAFETY_NONE; }
};

#endif // __AP_HAL_UTIL_H__