ardupilot/libraries/AP_HAL_Linux/Util.h

91 lines
2.7 KiB
C++

#ifndef __AP_HAL_LINUX_UTIL_H__
#define __AP_HAL_LINUX_UTIL_H__
#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>
#include "AP_HAL_Linux_Namespace.h"
#include "ToneAlarmDriver.h"
#include "Semaphores.h"
enum hw_type {
UTIL_HARDWARE_RPI1 = 0,
UTIL_HARDWARE_RPI2,
UTIL_HARDWARE_BEBOP,
UTIL_HARDWARE_BEBOP2,
UTIL_NUM_HARDWARES,
};
class Linux::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);
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(perf_counter_type t, const char *name) override;
void perf_begin(perf_counter_t perf) override;
void perf_end(perf_counter_t perf) override;
void perf_count(perf_counter_t perf) override;
// create a new semaphore
AP_HAL::Semaphore *new_semaphore(void) override { return new Linux::Semaphore; }
int get_hw_arm32();
private:
static Linux::ToneAlarm _toneAlarm;
Linux::Heat *_heat;
int saved_argc;
char* const *saved_argv;
const char* custom_log_directory = NULL;
const char* custom_terrain_directory = NULL;
static const char *_hw_names[UTIL_NUM_HARDWARES];
};
#endif // __AP_HAL_LINUX_UTIL_H__