ardupilot/libraries/SITL/SIM_SerialDevice.cpp

105 lines
3.1 KiB
C++

/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
base class for serially-attached simulated devices
*/
#include "SIM_SerialDevice.h"
#include <stdio.h>
#include <unistd.h>
#include <fcntl.h>
using namespace SITL;
SerialDevice::SerialDevice()
{
// pipe for device to write to:
int tmp[2];
if (pipe(tmp) == -1) {
AP_HAL::panic("pipe() failed");
}
fd_my_end = tmp[1];
fd_their_end = tmp[0];
// close file descriptors on exec:
fcntl(fd_my_end, F_SETFD, FD_CLOEXEC);
fcntl(fd_their_end, F_SETFD, FD_CLOEXEC);
// make sure we don't screw the simulation up by blocking:
fcntl(fd_my_end, F_SETFL, fcntl(fd_my_end, F_GETFL, 0) | O_NONBLOCK);
fcntl(fd_their_end, F_SETFL, fcntl(fd_their_end, F_GETFL, 0) | O_NONBLOCK);
// pipe for device to read from:
if (pipe(tmp) == -1) {
AP_HAL::panic("pipe() failed");
}
read_fd_my_end = tmp[0];
read_fd_their_end = tmp[1];
// close file descriptors on exec:
fcntl(read_fd_my_end, F_SETFD, FD_CLOEXEC);
fcntl(read_fd_their_end, F_SETFD, FD_CLOEXEC);
// make sure we don't screw the simulation up by blocking:
fcntl(read_fd_my_end, F_SETFL, fcntl(fd_my_end, F_GETFL, 0) | O_NONBLOCK);
fcntl(read_fd_their_end, F_SETFL, fcntl(fd_their_end, F_GETFL, 0) | O_NONBLOCK);
}
bool SerialDevice::init_sitl_pointer()
{
if (_sitl == nullptr) {
_sitl = AP::sitl();
if (_sitl == nullptr) {
return false;
}
}
return true;
}
ssize_t SerialDevice::read_from_autopilot(char *buffer, const size_t size)
{
const ssize_t ret = ::read(read_fd_my_end, buffer, size);
// if (ret > 0) {
// ::fprintf(stderr, "SIM_SerialDevice: read from autopilot: (");
// for (ssize_t i=0; i<ret; i++) {
// ::fprintf(stderr, "%02X", buffer[i]);
// }
// ::fprintf(stderr, " ");
// for (ssize_t i=0; i<ret; i++) {
// ::fprintf(stderr, "%c", buffer[i]);
// }
// ::fprintf(stderr, ")\n");
// }
return ret;
}
ssize_t SerialDevice::write_to_autopilot(const char *buffer, const size_t size)
{
const ssize_t ret = write(fd_my_end, buffer, size);
// ::fprintf(stderr, "write to autopilot: (");
// for (ssize_t i=0; i<ret; i++) {
// ::fprintf(stderr, "%02X", (uint8_t)buffer[i]);
// }
// ::fprintf(stderr, ") (\n");
// for (ssize_t i=0; i<ret; i++) {
// ::fprintf(stderr, "%c", (uint8_t)buffer[i]);
// }
// ::fprintf(stderr, ")\n");
return ret;
}